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

Patent metadata

Field	Value
Publication number	US-12145269-B2
Application number	US-202217709902-A
Country	US
Kind code	B2
Filing date	Mar 31, 2022
Priority date	Sep 10, 2018
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

Techniques for controlling a robotic gripping system that utilizes vacuum suction and finger grasping, are disclosed. The vacuum suction and finger grasping are actuated based on a dynamic collision model. The dynamic collision model is used to generate collision scenes of a surrounding environment. The collision scenes are used to determine possible collisions in a motion path, which are used to selectively actuate the vacuum suction and/or finger grasping.

First claim

What is claimed is:

1. A robotic apparatus for manipulating objects, comprising:
a vacuum port configured to provide a vacuum suction force;
at least two gripping structures each having respective finger portions, the gripping structures positioned proximate to the vacuum port; and
a controller configured to:
utilize a dynamic collision model to determine a motion path for the robotic apparatus, wherein the motion path includes one or more intermediate poses for the robotic apparatus; and
provide commands to actuate the vacuum port, one or more gripping structures, or any combination thereof, based on the motion path.

2. The robotic apparatus of claim 1 , further comprising a contact sensor located on at least one of the finger portions.

3. The robotic apparatus of claim 1 , wherein the dynamic collision model utilizes a collision scene generated from an image or video of a surrounding environment.

4. The robotic apparatus of claim 1 , wherein the controller is configured to selectively and individually actuate the vacuum port and the gripping structures.

5. The robotic apparatus of claim 3 , wherein the controller is configured to selectively actuate only the vacuum port if the collision scene indicates a possible collision if the gripping structures are actuated.

6. The robotic apparatus of claim 3 , wherein the controller is configured to actuate both the vacuum port and the gripping structures if the collision scene does not indicate a possible collision if the gripping structures are actuated.

7. The robotic apparatus of claim 1 , wherein the controller is configured to selectively and individually actuate each gripping structure of the at least two gripping structures.

8. The robotic apparatus of claim 1 , wherein the dynamic collision model utilizes an iterative process with feedback.

9. A robotic apparatus for manipulating objects, comprising:
a vacuum port configured to provide a vacuum suction force;
at least two gripping structures each having respective finger portions, the gripping structures positioned proximate to the vacuum port; and
a controller configured to provide actuation commands to actuate the vacuum port, one or more gripping structures, or any combination thereof, based on a motion path for the robotic apparatus that includes one or more intermediate poses for the robotic apparatus, wherein the controller is configured to generate a collision scene of a surrounding environment to determine the motion path, and wherein the controller is further configured to utilize an iterative feedback loop to modify the motion path if the collision scene indicates a possible collision.

10. The robotic apparatus of claim 9 , further comprising a contact sensor located on at least one of the finger portions.

11. The robotic apparatus of claim 9 , wherein the collision scene is generated from an image or video of a surrounding environment.

12. The robotic apparatus of claim 9 , wherein the controller is configured to selectively and individually actuate the vacuum port and the gripping structures.

13. The robotic apparatus of claim 9 , wherein the controller is configured to selectively actuate only the vacuum port if the collision scene indicates a possible collision if the gripping structures are actuated.

14. The robotic apparatus of claim 9 , wherein the controller is configured to actuate both the vacuum port and the gripping structures if the collision scene does not indicate a possible collision if the gripping structures are actuated.

15. The robotic apparatus of claim 9 , wherein the controller is configured to selectively and individually actuate each gripping structure.

Assignees

• Ocado Innovation Ltd

Inventors

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

Classifications

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• B25J15/08

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

• B25J15/0028

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

• B25J19/04

  Viewing devices · CPC title

• B25J9/1697

  Vision controlled systems · CPC title