Object pickup strategies for a robotic device
First Claim
1. A method comprising:
- determining, by a computing device, two or more potential grasp points on a physical object corresponding to points at which a gripper attached to a robotic manipulator is operable to grip the physical object;
determining a drop-off location for the physical object;
making a determination that the robotic manipulator dropping off the physical object at the drop-off location while gripping the physical object at a given grasp point, from among the two or more potential grasp points, is expected to result in a collision between the physical object and another obstructing object positioned at the drop-off location;
in response to making the determination, rejecting the given grasp point as being one of the two or more potential grasp points, thereby resulting in one or more remaining potential grasp points other than the given grasp point;
selecting a grasp point from among the one or more remaining potential grasp points; and
providing instructions to cause the robotic manipulator to grip the physical object at the selected grasp point with the gripper and move the physical object to the drop-off location.
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Accused Products
Abstract
Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.
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Citations
21 Claims
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1. A method comprising:
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determining, by a computing device, two or more potential grasp points on a physical object corresponding to points at which a gripper attached to a robotic manipulator is operable to grip the physical object; determining a drop-off location for the physical object; making a determination that the robotic manipulator dropping off the physical object at the drop-off location while gripping the physical object at a given grasp point, from among the two or more potential grasp points, is expected to result in a collision between the physical object and another obstructing object positioned at the drop-off location; in response to making the determination, rejecting the given grasp point as being one of the two or more potential grasp points, thereby resulting in one or more remaining potential grasp points other than the given grasp point; selecting a grasp point from among the one or more remaining potential grasp points; and providing instructions to cause the robotic manipulator to grip the physical object at the selected grasp point with the gripper and move the physical object to the drop-off location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 21)
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17. A system comprising:
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a robotic manipulator; a gripper attached to the robotic manipulator; and a control system configured to; determine two or more potential grasp points on a physical object corresponding to points at which the gripper is operable to grip the physical object; determine a drop-off location for the physical object; make a determination that the robotic manipulator dropping off the physical object at the drop-off location while gripping the physical object at a given grasp point, from among the two or more potential grasp points, is expected to result in a collision between the physical object and another obstructing object positioned at the drop-off location; in response to making the determination, reject the given grasp point as being one of the two or more potential grasp points, thereby resulting in one or more remaining potential grasp points other than the given grasp point; select a grasp point from among the one or more remaining potential grasp points; and provide instructions to cause the robotic manipulator to grip the physical object at the selected grasp point with the gripper and move the physical object to the drop-off location. - View Dependent Claims (18)
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19. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
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determining two or more potential grasp points on a physical object corresponding to points at which a gripper attached to a robotic manipulator is operable to grip the physical object; determining a drop-off location for the physical object; making a determination that the robotic manipulator dropping off the physical object at the drop-off location while gripping the physical object at a given grasp point, from among the two or more potential grasp points, is expected to result in a collision between the physical object and another obstructing object positioned at the drop-off location; in response to making the determination, rejecting the given grasp point as being one of the two or more potential grasp points, thereby resulting in one or more remaining potential grasp points other than the given grasp point; selecting a grasp point from among the one or more remaining potential grasp points; and providing instructions to cause the robotic manipulator to grip the physical object at the selected grasp point with the gripper and move the physical object to the drop-off location. - View Dependent Claims (20)
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Specification