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Object pickup strategies for a robotic device

  • US 9,987,746 B2
  • Filed: 04/07/2016
  • Issued: 06/05/2018
  • Est. Priority Date: 03/15/2013
  • Status: Active Grant
First Claim
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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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