Detecting slippage from robotic grasp

Patent metadata

Field	Value
Publication number	US-2021122039-A1
Application number	US-202017029418-A
Country	US
Kind code	A1
Filing date	Sep 23, 2020
Priority date	Oct 25, 2019
Publication date	Apr 29, 2021
Grant date	—

Abstract

A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.

First claim

What is claimed is:

1 . A robotic system, comprising:
a plurality of sensors, each of the plurality of sensors configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm s end effector with an item; and a processor coupled to the plurality of sensors and configured to:
use the respective outputs of one or more sensors comprising the plurality of sensors to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector;
make based at least in part on an output of the multi-modal model a determination associated with slippage of the item within or from the grasp of the robotic arm end effector; and
take a responsive action based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.

2 . The robotic system of claim 1 , wherein a tactile sensing unit includes the plurality of sensors, wherein the tactile sensing unit is comprised of a plurality of layers, wherein each of the plurality of layers includes one or more sensors of the plurality of sensors.

3 . The robotic system of claim 1 , wherein the one or more inputs include one or more modalities.

4 . The robotic system of claim 3 , wherein the one or more modalities include one or more of weight, deformation, continuity, conductivity, resistance, inductance, and capacitance.

5 . The robotic system of claim 1 , wherein the output of the multi-modal model indicates that the item is starting to slip from the grasp of the robotic arm end effector.

6 . The robotic system of claim 1 , wherein the output of the multi-modal model indicates that the item is slipping from the grasp of the robotic arm end effector.

7 . The robotic system of claim 1 , wherein the processor is further configured to monitor the respective outputs of the one or more sensors while the end effector is moving the item from a first location to a second location.

8 . The robotic system of claim 1 , wherein a deformation value determined based on the s respective outputs of at least one of the one or more sensors indicates whether the item is slipping from the grasp of the robotic arm end effector.

9 . The robotic system of claim 1 , wherein a deformation value determined based on the respective outputs of at least one of the one or more sensors indicates whether the item is starting to slip from the grasp of the robotic arm end effector.

10 . The robotic system of claim 1 , wherein the multi-modal model is configured to classify the slippage of the item as linear slippage.

11 . The robotic system of claim 1 , wherein the multi-modal model is configured to classify the slippage of the item as rotational slippage.

12 . The robotic system of claim 1 , wherein the responsive action includes moving the item is from a first location to a second location.

13 . The robotic system of claim 1 , wherein the responsive action includes placing the item at a location and re-grasping the item.

14 . The robotic system of claim 1 , wherein the responsive action includes adjusting an orientation of the robotic arm end effector.

15 . The robotic system of claim 1 , wherein the responsive action includes increasing a force applied by the robotic arm end effector to the item.

16 . The robotic system of claim 15 , wherein the force applied by the robotic arm end effector is based on a fragility associated with the item.

17 . The robotic system of claim 1 , wherein the force applied by the robotic arm end effector is based on whether an output of the multi-modal model indicates the slippage of the item is linear slippage or rotational slippage.

18 . The robotic system of claim 1 , wherein the processor is further configured to use the respective outputs of one or more sensors to initiate slippage of the item within or from the grasp of the robotic arm end effector to adjust the grasp of the robotic arm end effector with respect to the item.

19 . A method, comprising:
using corresponding outputs of one or more sensors comprising a plurality of sensors to s determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of an item within or from a grasp of the robotic arm end effector, wherein each of the plurality of sensors is configured to provide a corresponding output that reflects a sensed value associated with engagement of the robotic arm end effector with the item; making based at least in part on an output of the multi-modal model a determination associated with slippage of the item within or from the grasp of the robotic arm end effector; and taking a responsive action based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.

20 . A computer program product embodied in a non-transitory computer readable medium is and comprising computer instructions for:
using corresponding outputs of one or more sensors comprising a plurality of sensors to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of an item within or from a grasp of the robotic arm end effector, wherein each of the plurality of sensors is configured to provide a corresponding output that reflects a sensed value associated with engagement of the robotic arm end effector with the item; making based at least in part on an output of the multi-modal model a determination associated with slippage of the item within or from the grasp of the robotic arm end effector; and taking a responsive action based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.

Assignees

• Dexterity Inc

Inventors

• Su Harry Zhe
• Sun Zhouwen
• Menon Samir

Classifications

• G05B2219/40155

  Purpose is grasping objects · CPC title

• B25J9/163

  learning, adaptive, model based, rule based expert control · CPC title

• G05B2219/39507

  Control of slip motion · CPC title

• G05B2219/40625

  Tactile sensor · CPC title

• G05B2219/40567

  Purpose, workpiece slip sensing · CPC title