Computationally generated grippers
AssigneeUniversity of Washington
InventorsJeffrey Lipton, Ian Good, Milin Kodnongbua, Yu Lou, Adrianna Schulz
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Abstract
Passive grippers can be computationally generated for grasping objects. For example, a method described herein for producing a passive gripper for the object can include identifying a set of grasp configurations for the object. The method can also include selecting, from the set, a particular grasp configuration configured for performing passive engagement and disengagement with the object. Additionally, the method can include generating a template for the passive gripper based on the particular grasp configuration. The method can include fabricating the passive gripper based on the template.
Claims20
A method of producing a passive gripper for an object, the method comprising:
- identifying a set of grasp configurations for the object;
- selecting, from the set, a particular grasp configuration configured for performing passive engagement and disengagement with the object;
- generating a template for the passive gripper based on the particular grasp configuration;
- and
- fabricating the passive gripper based on the template.
A system comprising:
- a robotic arm configured to move relative to an object;
- a processor;
- a memory that includes instructions executable by the processor for causing the processor to perform operations comprising:
- identifying a set of grasp configurations for the object;
- selecting, from the set, a particular grasp configuration configured for performing passive engagement and disengagement with the object;
- and
- generating a template of a passive gripper configured to contact the object at the particular grasp configuration;
- and
- a manufacturing device configured to fabricate the passive gripper based on the template and such that the passive gripper is attachable to the robotic arm to be configured to contact the object at the particular grasp configuration.
A method for producing a gripper for two or more objects, the method comprising:
- identifying two or more sets of grasp configurations, each set of grasp configurations associated with one of the two or more objects;
- selecting, from the two or more sets of grasp configurations, a combination of particular grasp configurations, the combination configured to grasp at least one object of the two or more objects;
- generating a template for the gripper, the gripper configured to contact the at least one object using the combination of the particular grasp configurations;
- and
- fabricating the gripper based on the template.
Dependencies are inferred from the claim text.