Systems and methods for a passive grasping surface on an active grasping robotic manipulator

Patent metadata

Field	Value
Publication number	US-11559884-B2
Application number	US-201916691404-A
Country	US
Kind code	B2
Filing date	Nov 21, 2019
Priority date	Nov 28, 2018
Publication date	Jan 24, 2023
Grant date	Jan 24, 2023

Abstract

One or more embodiments of the present disclosure relate generally to the field of robotic grasping systems, and in particular to an active robotic manipulator that includes a passive grasping component so that the robotic manipulator can grasp a wide variety of objects and simultaneously provide soft grasping features which reduce the risk of damage to objects.

First claim

What is claimed is:

1. A system for a robotic manipulator having an active grasping component that allows for passive grasping of an object, comprising:
a controller;
at least two fingers configured to provide an active grasp of the object;
at least two passive grasping surfaces, each one of the at least two passive grasping surfaces coupled to a respective one of the at least two fingers, wherein each of the passive grasping surfaces includes a deformable shell having an interior containing a medium;
an actuator communicatively coupled to the controller, the actuator configured to control movement of the fingers; and
a pump communicatively coupled to the controller, the pump configured to deliver fluid pressure and the medium to the interior of the shell of each of the passive grasping surfaces, the pump further configured to suction fluid and the medium from the interior of the shell of each of the passive grasping surfaces.

2. The system of claim 1 , wherein the fluid is selected from a group consisting of a liquid and a gas.

3. The system of claim 1 , wherein the medium is configured to compress when the pump suctions fluid from the interior of the shell of each of the passive grasping surfaces.

4. The system of claim 1 , wherein the medium is selected from a group consisting of coffee grounds, sand, rice, metal fragments, rubber fragments, sawdust, flour, salt, and rocks.

5. The system of claim 1 , wherein the medium is selected from a group consisting of polymers, foam, elastomers, and silicone.

6. The system of claim 1 , wherein the controller is configured to control the actuator and the pump based on learned data generated from a machine learning model that has processed sensor data from the robotic manipulator.

7. The system of claim 1 , wherein the controller is configured to independently control each of the fingers.

8. The system of claim 1 , wherein the shell is configured to conform to a shape of the object when the pump suctions fluid from the interior of the shell of each of the passive grasping surfaces.

9. A method for grasping an object with a robotic manipulator having fingers that include a passive grasping component:
positioning, by a controller, at least two active grasping fingers to be adjacent to the object;
instructing, by the controller, a pump to apply negative pressure to an interior of a shell coupled to each of the active grasping fingers, wherein the shell is configured to conform to a shape of the object upon application of the negative pressure;
determining, by the controller, if the active grasping fingers are securely grasping the object after the application of negative pressure to the interior of the shell;
responsive to determining that the active grasping fingers are securely grasping the object after the application of negative pressure to the interior of the shell, instructing, by the controller, the pump to re-apply negative pressure to the interior of the shell;
determining, by the controller, if the active grasping fingers are over-grasping the object after the application of the negative pressure to the interior of the shell; and
responsive to determining that the active grasping fingers are over-grasping the object after the application of the negative pressure to the interior of the shell, instructing, by the controller, the pump to apply positive pressure to the interior of the shell.

10. The method of claim 9 , wherein the interior of the shell contains a medium configured to compress when the pump applies negative pressure to the interior of the shell.

11. The method of claim 9 , wherein the interior of the shell contains a medium configured to expand when the pump applies positive pressure to the interior of the shell.

12. The method of claim 9 , wherein the controller is configured to instruct the pump to apply positive pressure to the shell of only one active grasping finger if the active grasping fingers are over-grasping the object.

13. The method of claim 9 , wherein the controller is configured to instruct the pump to apply negative pressure to the shell of only one active grasping finger if the active grasping fingers are not securely grasping the object.

14. The method of claim 9 , wherein the shell is made from a material selected from a group consisting of an elastomer, a polymeric material, vinyl, a metal foil, a film, and a woven fabric.

15. A system for a robotic manipulator having an active grasping component that allows for passive grasping of an object, comprising:
a controller;
at least two fingers configured to provide an active grasp of the object;
at least two deformable shells, each deformable shell coupled to a respective one of the fingers, wherein each deformable shell has a hollow interior containing a medium, and wherein each deformable shell has an outer surface configured to contact the object;
an actuator communicatively coupled to the controller, the actuator configured to control movement of the fingers; and
a pump communicatively coupled to the controller, the pump configured to deliver fluid pressure and the medium to the interior of each of the deformable shells, the pump further configured to suction fluid and the medium from the interior of each of the deformable shells,
wherein the controller is configured to simultaneously control the actuator and the pump.

16. The system of claim 15 , wherein the fluid is selected from a group consisting of a liquid and a gas.

17. The system of claim 15 , wherein the medium is selected from a group consisting of polymers, foam, elastomers, and silicone.

18. The system of claim 15 , wherein at least one of the fingers includes a narrow distal end configured to allow the robotic manipulator to perform a pinching operation on the object.

19. The system of claim 15 , wherein the controller is configured to independently control delivery of fluid pressure and suction to each of the deformable shells.

20. The system of claim 15 , wherein the controller is configured to control the actuator and the pump based on learned data generated from a machine learning model that has processed sensor data from the robotic manipulator.

Assignees

• Kindred Sys Inc

Inventors

• Hallock David Gabriel
• Jeong Jun
• Hummel Thomas John

Classifications

• B25J9/1612 Primary

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

• B25J9/1679

  characterised by the tasks executed · CPC title

• B25J15/0683

  Details of suction cup structure, e.g. grooves or ridges · CPC title

• B25J15/0023

  Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12) · CPC title

• B25J15/08 Primary

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