Detecting robot grasp of very thin object or feature

• Main Authors: Sun, Zhouwen, Su, Harry Zhe, Menon, Samir
• Format: Patent
• Language: English
• Published: 21.03.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A plurality of sensors are configured to provide respective outputs that reflect a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of the plurality of sensors are used to make a determination associated with engagement of a robotic arm end effector with an item. A first value measured by a first sensor is used to determine a first input associated with a first factor. A second value measured by a second sensor is used to determine a second input associated with a second factor. The first input and the second input are provided to a multi-factor model configured to provide, based at least in part on the first input and the second input, an output associated with engagement of the robotic arm end effector with the item. The output of the multi-factor model is used to make the determination associated with engagement of the robotic arm end effector with the item.