DETECTING SLIPPAGE FROM ROBOTIC GRASP

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...

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Bibliographic Details
Main Authors Sun, Zhouwen, Su, Harry Zhe, Menon, Samir
Format Patent
LanguageEnglish
Published 29.04.2021
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary: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.
Bibliography:Application Number: US202017029418