Real-time determination of object metrics for trajectory planning

Patent metadata

Field	Value
Publication number	US-9630316-B2
Application number	US-201615006264-A
Country	US
Kind code	B2
Filing date	Jan 26, 2016
Priority date	Jul 16, 2014
Publication date	Apr 25, 2017
Grant date	Apr 25, 2017

Abstract

Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

First claim

What is claimed is:

1. A method comprising:
causing, by a control system, a robotic manipulator to pick up an object in an environment with an end effector;
causing, by the control system, the robotic manipulator to pivot the object around an edge of the object in contact with a surface in the environment;
while causing the robotic manipulator to pivot the object, using sensor data from a force-torque sensor to cause, by the control system, the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment;
determining, by the control system, a radius of the trajectory followed by the robotic manipulator in pivoting the object around the edge of the object; and
determining, by the control system, at least one unknown dimension of the object based on the radius of the trajectory followed by the robotic manipulator.

2. The method of claim 1 , further comprising causing the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment at a fixed contact point on the surface of the environment.

3. The method of claim 1 , wherein the at least one unknown dimension of the object is measured from the edge of the object in contact with the surface in the environment.

4. The method of claim 1 , further comprising:
causing the robotic manipulator to pivot the object around a second edge of the object in contact with the surface in the environment;
while causing the robotic manipulator to pivot the object around the second edge, using sensor data from the force-torque sensor to cause the robotic manipulator to follow a second trajectory that maintains contact between the second edge of the object and the surface in the environment; and
determining at least one other dimension of the object based on the second trajectory followed by the robotic manipulator.

5. The method of claim 1 , further comprising:
determining, based on the at least one unknown dimension of the object, a path for moving the object to a drop-off location; and
causing the robotic manipulator to move the object to the drop-off location through the determined path.

6. The method of claim 5 , further comprising determining at least one other dimension of the object based on sensor data from at least one of a depth sensor and a visual sensor, wherein determining the path for moving the object to the drop-off location is further based on the sensor data from the at least one of a depth sensor and a visual sensor.

7. The method of claim 1 , wherein the at least one unknown dimension of the object is at least one of a width of the object, a height of the object, and a depth of the object.

8. The method of claim 1 , wherein the object is a rectangular object, wherein causing the robotic manipulator to pick up the object comprises causing the end effector to grip the rectangular object from a first side, and wherein the at least one unknown dimension of the rectangular object is a dimension of a second side of the rectangular object, wherein the second side is opposite the first side of the rectangular object.

9. The method of claim 1 , wherein the object is a first rectangular object, and wherein the surface in the environment is a face of a second rectangular object.

10. The method of claim 1 , wherein the end effector of the robotic manipulator comprises a gripper, and wherein the force-torque sensor is positioned above the gripper on the robotic manipulator.

11. The method of claim 10 , wherein the gripper comprises at least one suction gripper.

12. A system, comprising:
a robotic manipulator;
a force-torque sensor; and
a control system configured to:
cause the robotic manipulator to pick up an object in an environment with an end effector;
cause the robotic manipulator to pivot the object around an edge of the object in contact with a surface in the environment;
while causing the robotic manipulator to pivot the object, use sensor data from the force-torque sensor to cause the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment;
determine a radius of the trajectory followed by the robotic manipulator in pivoting the object around the edge of the object; and
determine at least one unknown dimension of the object based on the radius of the trajectory followed by the robotic manipulator.

13. The system of claim 12 , wherein the control system is further configured to cause the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment at a fixed contact point on the surface of the environment.

14. The system of claim 12 , wherein the at least one unknown dimension of the object is measured from the edge of the object in contact with the surface in the environment.

15. The system of claim 12 , wherein the control system is further configured to:
cause the robotic manipulator to pivot the object around a second edge of the object in contact with the surface in the environment;
while causing the robotic manipulator to pivot the object around the second edge, use sensor data from the force-torque sensor to cause the robotic manipulator to follow a second trajectory that maintains contact between the second edge of the object and the surface in the environment; and
determine at least one other dimension of the object based on the second trajectory followed by the robotic manipulator.

16. The system of claim 12 , wherein the control system is further configured to:
determine, based on the at least one unknown dimension of the object, a path for moving the object to a drop-off location; and
cause the robotic manipulator to move the object to the drop-off location through the determined path.

17. The system of claim 12 , wherein the end effector of the robotic manipulator comprises a gripper, and wherein the force-torque sensor is positioned above the gripper on the robotic manipulator.

18. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:
causing a robotic manipulator to pick up an object in an environment with an end effector;
causing the robotic manipulator to pivot the object around an edge of the object in contact with a surface in the environment;
while causing the robotic manipulator to pivot the object, using sensor data from a force-torque sensor to cause the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment;
determining a radius of the trajectory followed by the robotic manipulator in pivoting the object around the edge of the object; and
determining at least one unknown dimension of the object based on the radius of the trajectory followed by the robotic manipulator.

19. The non-transitory computer readable medium of claim 18 , wherein the functions further comprise causing the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment at a fixed contact point on the surface of the environment.

20. The non-transitory computer readable medium of claim 18 , wherein the functions further comprise:
determining, based on the at least one unknown dimension of the object, a path for moving the object to a drop-off location; and
providing instructions to cause the rob

Assignees

• X Dev Llc

Inventors

• Konolige Kurt
• Rublee Ethan
• Kalakrishnan Mrinal

Classifications

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1612 Primary

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

• G05B2219/37345

  Dimension of workpiece, diameter · CPC title

• G05B2219/40512

  Real time path planning, trajectory generation · CPC title