Article of dishware gripping method with two adjacent teeth
Example systems and methods are described that are capable of gripping objects. In one implementation, a method involves identifying, by a processing system, an object to be gripped at a first location, commanding, by the processing system, a robotic actuator to move a gripper in a first direction so that the gripper makes contact with the object, wherein one or more teeth in a plurality of fingers associated with the gripper mechanically engage the object, and commanding, by the proceeding system, the robotic actuator to move the gripper in a second direction that is substantially opposite to the first direction, causing the gripper to grip the object.
1. A method comprising:
identifying, by a processing system, an article of dishware to be gripped at a first location;
commanding, by the processing system, a robotic actuator to move a gripper in a first direction so that the gripper makes contact with the article of dishware, wherein the gripper comprises a plurality of fingers around a central axis of the gripper, wherein one or more teeth in the plurality of fingers associated with the gripper mechanically engage the article of dishware; and
commanding, by the processing system, the robotic actuator to move the gripper in a second direction that is substantially opposite to the first direction, causing the gripper to grip the article of dishware;
wherein;
a tooth of two adjacent teeth of a first finger of the plurality of fingers mechanically engages under a rim of the article of dishware and the rim of the article of dishware is gripped between the two adjacent teeth when the gripper moves in the first direction;
a tooth of two adjacent teeth of a second finger of the plurality of fingers mechanically engages under the rim of the article of dishware and the rim of the article of dishware is gripped between the two adjacent teeth when the gripper moves in the first direction; and
wherein the central axis of the gripper is perpendicular to the rim of the article of dishware when the article of dishware is gripped by the gripper.
2. The method of claim 1 , wherein each of the plurality of fingers moves independently of the other fingers.
3. The method of claim 1 , wherein the plurality of fingers move collectively.
4. The method of claim 1 , wherein each of the plurality of fingers is configured to move passively based on gravity, contact of the first finger or the second finger with the article of dishware, or a spring mechanism.
5. The method of claim 1 , wherein each of the plurality of fingers is configured to move actively, wherein the active movement is controlled by an actuator.
6. The method of claim 1 , further including, causing the gripper to transition from a free state to a locked state 1) after commanding the robotic actuator to move the gripper in the first direction, and 2) before commanding the robotic actuator to move the gripper in the second direction.
7. The method of claim 6 , further including causing the gripper to transition from the locked state to a released state after commanding the robotic actuator to move the gripper in the second direction.
8. The method of claim 6 , wherein;
in the free state the first and second fingers are able to move under the influence of an external force; and
in the locked state motion of the first and second fingers is constrained by one or more locking mechanisms.
9. The method of claim 8 , further including causing the gripper to transition from the locked state to a released state after commanding the robotic actuator to move the gripper in the second direction.
10. The method of claim 1 , wherein the first finger and the second finger each include a plurality of teeth to allow the gripper to grip articles of dishware of different sizes.
11. The method of claim 1 , further including determining based on input from a sensing system if the article of dishware is gripped before commanding the robotic actuator to move the gripper in the second direction.