Systems and methods associated with handling an object with a gripper
View Patent ↗A system associated with handling an object with a gripper includes a sensor that is configured to measure spatially distributed data that represents the position of the object that is handled by the gripper. The system further includes a computing unit that is configured to determine the behavior of the object.
1. A method associated with handling an object using a gripper, comprising:
determining, by a computing unit using a processor, a vector field as a function of change in spatially-distributed data over time, the spatially-distributed data being measured at different positions on the object or on a gripping surface of the gripper by a sensor; and
determining, by the computing unit, a behavior of the object as a function of the vector field, the behavior of the object comprising at least one vector selected from a group consisting of:
a translational vector, wherein the translational vector is a resultant vector of the vector field; and
a rotational vector, wherein the rotational vector is a curl of the vector field.
2. The method of claim 1 , wherein the spatially-distributed data includes a footprint corresponding to an area of sensor excitation.
3. The method of claim 2 , further comprising determining a parameter that represents a position of the footprint.
4. The method of claim 3 , further comprising determining the vector field as a function of change in the parameter over time.
5. The method of claim 1 , wherein the vector field is an optical flow of the spatially distributed data over time.
6. A method associated with handling an object using a gripper, comprising:
determining, by a computing unit using a processor, a vector field as a function of change in spatially-distributed data over time, the spatially-distributed data being measured at different positions on the object or on a gripping surface of the gripper by a sensor;
determining, by the computing unit, a behavior of the object as a function of the vector field, the behavior of the object comprising at least one vector selected from a group consisting of a translational vector and a rotational vector; and
identifying points of a null space of a curl that lie on the object.
7. The method of claim 6 , further comprising identifying an axis of rotation as a function of spatial points that lie on opposite sides of the object.
8. The method of claim 7 , further comprising controlling the gripper by changing pressure of at least one point of contact that is offset from the axis of rotation.
9. A system, associated with handling an object using a gripper, comprising:
a sensor configured to measure spatially-distributed data that represents a position of the object that is handled by the gripper;
a computing unit, comprising:
a processor;
a memory having computer-readable instructions that, when executed by the processor, cause the processor to perform steps comprising:
determining a vector field as a function of change in spatially-distributed data over time, the spatially-distributed data being measured at different positions on the object or on a gripping surface of the gripper by the sensor; and
determining the behavior of the object as a function of the vector field, the behavior of the object comprising at least one vector selected from a group consisting of:
a translational vector, wherein the translational vector is a resultant vector of the vector field; and
a rotational vector, wherein the rotational vector is a curl of the vector field.
10. The system of claim 9 , wherein the sensor includes a pressure array.
11. The system of claim 10 , wherein the spatially-distributed data includes a footprint corresponding to a point of contact.
12. The system of claim 11 , wherein the steps performed by the processor executing the computer readable instructions further comprise determining a parameter that represents a position of the footprint.
13. The system of claim 12 , wherein the steps performed by the processor executing the computer readable instructions further comprise determining the vector field as a function of change in the parameter over time.
14. The system of claim 9 , wherein the sensor includes a camera.
15. The system of claim 14 , wherein the vector field includes an optical flow of the spatially-distributed data over time.
16. The system of claim 9 , wherein the steps performed by the processor executing the computer readable instructions further comprise generating instructions for controlling the gripper as a function of the behavior of the object.