Multiple object grasping using robotics
AssigneeUniversity of South Florida
InventorsYu SUN, Adheesh SHENOY, Tianze CHEN, Francis TSOW
Life of this patent
Estimating the term…
Abstract
Systems and methods for multiple object transferring using robotics. A system includes a robotic hand with a base and fingers capable of grasping objects. A robotic arm is coupled to the robotic hand and is capable of moving the robotic hand. One or more circuits are configured to operate the robotic hand and the robotic arm by identifying a pre-grasp configuration for the robotic hand and executing a transfer routine based on a Markov decision process model to operate the robotic hand and the robotic arm such that they move multiple objects from a first location to a second location.
Claims20
A system, comprising:
- a robotic hand comprising a base and fingers, the robotic hand capable of grasping objects;
- a robotic arm coupled to the robotic hand and capable of moving the robotic hand;
- one or more circuits for operating the robotic hand and the robotic arm, the one or more circuits configured to:
- identify a pre-grasp configuration for the robotic hand based on a target quantity of objects to be grasped by the robotic hand;
- operate the fingers of the robotic hand in accordance with the pre-grasp configuration;
- and
- execute a transfer routine based on a Markov decision process to operate the robotic arm and the robotic hand such that the robotic hand grasps the target quantity of objects in a first location and the robotic hand and the robotic arm transfer the target quantity of objects to a second location.
A method, comprising:
- identifying a pre-grasp configuration for a robotic hand comprising fingers based on a target quantity of objects to be grasped by the robotic hand;
- operating the fingers of the robotic hand in accordance with a spread angle of one or more of the fingers of the robotic associated with the pre-grasp configuration;
- and
- executing a transfer routine based on a Markov decision process to operate a robotic arm coupled to the robotic hand such that the robotic hand grasps the target quantity of objects in a first location and transfers the target quantity of objects to a second location.
A method, comprising:
- identifying a pre-grasp configuration for a robotic hand comprising fingers based on a target quantity of objects of a collection of objects to be grasped by the robotic hand;
- identifying an end-grasp configuration for the robotic hand based on the target quantity of objects to be grasped by the robotic hand;
- operating the fingers of the robotic hand in accordance with the pre-grasp configuration;
- operating a robotic arm coupled to the robotic hand to move the robotic hand near the collection of objects;
- operating the fingers of the robotic hand in accordance with the end-grasp configuration such that the robotic hand grasps the target quantity of objects;
- and
- executing a transfer routine based on a Markov decision process to operate the robotic arm and the robotic hand such that the robotic arm and the robotic hand transfer the target quantity of objects from a first location to a second location.
Dependencies are inferred from the claim text.