System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control
Techniques for controlling a robotic gripping system that utilizes vacuum suction and finger grasping, are disclosed. The vacuum suction and finger grasping are actuated based on a dynamic collision model. The dynamic collision model is used to generate collision scenes of a surrounding environment. The collision scenes are used to determine possible collisions in a motion path, which are used to selectively actuate the vacuum suction and/or finger grasping.
1. A robotic apparatus for manipulating objects, comprising:
a vacuum port configured to provide a vacuum suction force;
at least two gripping structures each having respective finger portions, the gripping structures positioned proximate to the vacuum port; and
a controller configured to:
utilize a dynamic collision model to determine a motion path for the robotic apparatus, wherein the motion path includes one or more intermediate poses for the robotic apparatus; and
provide commands to actuate the vacuum port, one or more gripping structures, or any combination thereof, based on the motion path.
2. The robotic apparatus of claim 1 , further comprising a contact sensor located on at least one of the finger portions.
3. The robotic apparatus of claim 1 , wherein the dynamic collision model utilizes a collision scene generated from an image or video of a surrounding environment.
4. The robotic apparatus of claim 1 , wherein the controller is configured to selectively and individually actuate the vacuum port and the gripping structures.
5. The robotic apparatus of claim 3 , wherein the controller is configured to selectively actuate only the vacuum port if the collision scene indicates a possible collision if the gripping structures are actuated.
6. The robotic apparatus of claim 3 , wherein the controller is configured to actuate both the vacuum port and the gripping structures if the collision scene does not indicate a possible collision if the gripping structures are actuated.
7. The robotic apparatus of claim 1 , wherein the controller is configured to selectively and individually actuate each gripping structure of the at least two gripping structures.
8. The robotic apparatus of claim 1 , wherein the dynamic collision model utilizes an iterative process with feedback.
9. A robotic apparatus for manipulating objects, comprising:
a vacuum port configured to provide a vacuum suction force;
at least two gripping structures each having respective finger portions, the gripping structures positioned proximate to the vacuum port; and
a controller configured to provide actuation commands to actuate the vacuum port, one or more gripping structures, or any combination thereof, based on a motion path for the robotic apparatus that includes one or more intermediate poses for the robotic apparatus, wherein the controller is configured to generate a collision scene of a surrounding environment to determine the motion path, and wherein the controller is further configured to utilize an iterative feedback loop to modify the motion path if the collision scene indicates a possible collision.
10. The robotic apparatus of claim 9 , further comprising a contact sensor located on at least one of the finger portions.
11. The robotic apparatus of claim 9 , wherein the collision scene is generated from an image or video of a surrounding environment.
12. The robotic apparatus of claim 9 , wherein the controller is configured to selectively and individually actuate the vacuum port and the gripping structures.
13. The robotic apparatus of claim 9 , wherein the controller is configured to selectively actuate only the vacuum port if the collision scene indicates a possible collision if the gripping structures are actuated.
14. The robotic apparatus of claim 9 , wherein the controller is configured to actuate both the vacuum port and the gripping structures if the collision scene does not indicate a possible collision if the gripping structures are actuated.
15. The robotic apparatus of claim 9 , wherein the controller is configured to selectively and individually actuate each gripping structure.