System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control

Patent metadata

Field	Value
Publication number	US-11312014-B2
Application number	US-201916565186-A
Country	US
Kind code	B2
Filing date	Sep 9, 2019
Priority date	Sep 10, 2018
Publication date	Apr 26, 2022
Grant date	Apr 26, 2022

Abstract

The present disclosure generally relates to a robotic gripping system and method that utilizes vacuum suction and finger grasping, wherein the suction and grasping are actuated based on a dynamic collision model. In an exemplary embodiment, the present disclosure is directed to generating collision scenes of a surrounding environment which is used to determine possible collisions in a motion path, and which is used to selectively actuate the vacuum suction and/or finger grasping.

First claim

What is claimed is:

1. A method of controlling a robotic apparatus for manipulating objects, comprising:
capturing an image of an environment surrounding the robotic apparatus;
generating a collision scene from the image, wherein the collision scene indicates the presence or absence of objects in the environment surrounding the robotic apparatus;
generating a first pose for the robotic apparatus;
generating a motion path for the robotic apparatus;
determining if the first pose will allow the robotic apparatus to complete the motion path based on comparing the motion path to the collision scene; and
generating a second pose if the first pose does not allow the robotic apparatus to complete the motion path.

2. The method of claim 1 , wherein the first and second poses include a specific orientation of at least one finger coupled to the robotic apparatus.

3. The method of claim 1 , wherein the first and second poses include a specific orientation of at least two fingers coupled to the robotic apparatus.

4. The method of claim 1 , wherein the collision scene is generated based on capturing an image within a threshold area surrounding the robotic apparatus.

5. The method of claim 1 , further comprising modifying the motion path if the first pose or the second pose does not allow the robotic apparatus to complete the motion path.

6. The method of claim 1 , wherein the motion path includes waypoints between a start state and an end state.

7. The method of claim 1 , wherein the first pose and the second pose include an extension distance for a suction gripper coupled to the robotic apparatus.

Assignees

• Kindred Sys Inc

Inventors

• Jeong Jun
• Whittington Bryan
• Lipay Petr
• Hummel Thomas John
• Hallock David Gabriel
• Martin Adrian
• Seize Hugo
• George Kevin
• Wojciechowski Sara
• Keyes Nicholas
• Rizkalla Adam

Classifications

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• B25J15/0028

  with movable, e.g. pivoting gripping jaw surfaces · CPC title

• B25J15/0616

  with vacuum · CPC title

• G05B2219/40497

  Collision monitor controls planner in real time to replan if collision · CPC title