Push constraint using robotic limbs
AssigneeToyota Motor Engineering & Manafacturing North America, Inc.
InventorsAaron M. Blasdel, Joseph M. A. Djugash
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Abstract
Methods and systems of determining a location of a target object on a surface are disclosed. A method may include positioning a robotic arm proximate to the target object, moving the robotic arm at a trajectory such that the robotic arm contacts the target object and pushes the target object across the surface into a target area bound by known dimensional coordinates, moving a robotic hand coupled to the robotic arm along a vector that corresponds to one of the known dimensional coordinates such that the robotic hand contacts the target object in the target area, and grasping the target object with the robotic hand.
Claims20
A method of determining a location of a target object on a surface, the method comprising:
- positioning a robotic arm proximate to the target object;
- moving the robotic arm at a trajectory such that the robotic arm contacts the target object and pushes the target object across the surface into a target area bound by known dimensional coordinates;
- moving a robotic hand coupled to the robotic arm along a vector that corresponds to one of the known dimensional coordinates such that the robotic hand contacts the target object in the target area;
- and
- grasping the target object with the robotic hand.
A system of determining a location of a target object on a surface, the system comprising:
- a robotic arm coupled to a robotic hand;
- a processing device in communication with the robotic arm;
- and
- a non-transitory, computer-readable storage medium in communication with the processing device, wherein the non-transitory, computer readable storage medium comprises programming instructions that, when executed, cause the processing device to:
- direct the robotic arm to move from a first location that is proximate to the target object such that the robotic arm contacts the target object and pushes the target object across the surface into a target area in a second location, wherein the target area is bound by known dimensional coordinates,
- direct the robotic hand to move along a vector that corresponds to one of the known dimensional coordinates such that the robotic hand contacts the target object in the target area, and
- direct the robotic hand to grasp the target object.
A method of determining a location of a target object on a surface, the method comprising:
- directing, by a processing device, a robotic arm to move from a first location that is proximate to the target object such that the robotic arm pushes the target object across the surface into a target area in a second location, wherein the target area is bound by known dimensional coordinates,
- directing, by the processing device, a robotic hand coupled to the robotic arm to move along a vector that corresponds to one of the known dimensional coordinates such that the robotic hand contacts the target object in the target area, and
- directing, by the processing device, the robotic hand to grasp the target object.
Dependencies are inferred from the claim text.