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Validation of robotic item grasping

  • US 9,669,543 B1
  • Filed: 12/11/2015
  • Issued: 06/06/2017
  • Est. Priority Date: 12/11/2015
  • Status: Active Grant
First Claim
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1. A system, comprising:

  • at least one processor; and

    a memory including instructions that, when executed by the at least one processor cause the system to, at least;

    access information about an item;

    access information about an end of arm tool of a robotic manipulator comprising a grasping function capable of grasping the item; and

    determine a richness measure for multiple orientations of the item for a set of grasps for use by the end of arm tool, each of the grasps comprising utilization of the grasping function to successfully grasp the item via one or more contact points on the item, the richness measure representing a spatial variation of grasps of the set of grasps with respect to each orientation of the item, the richness measure for each orientation determined by at least;

    determining whether the end of arm tool is capable of grasping the item using the grasping function at a first set of contact points located on the item when the item is in the orientation with respect to the end of arm tool;

    determining a quality value of the grasp at the first set of contact points;

    iteratively determining additional sets of contacts points in the orientation at which the end of arm tool is capable of grasping the item using the grasping function, and quality values of grasps at the additional sets of contact points; and

    determining the richness measure for the orientation based at least in part upon the number of grasps in the orientation and the quality values of the grasps.

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