Granted Patent B2

US 12,208,525 · App. 18/299,660 · Granted Jan 28, 2025

Inventors: Rosen Nikolaev Diankov (Tokyo, JP); Huan Liu (Tokyo, JP); Denys Kanunikov (Tokyo, JP)

Assignee: Mujin, Inc.

B25J9/1664B25J9/1633B25J9/1674B25J9/1687B25J15/0004B25J15/0019B65G61/00G05B2219/39107G05B2219/45063

Abstract

Claims (78)

1. A method for operating a robotic system, the method comprising:

obtaining a base motion plan configured to operate a robotic assembly to transfer a target object from a start location to a task location;

receiving a contact measure while implementing the base motion plan;

determining whether the contact measure fails to satisfy a threshold; and

selectively generating a set of commands and/or settings based on the determination.

2. The method of claim 1 , wherein:

the contact measure represents an amount of grip on the target object provided by a suction gripper; and

determining whether the contact measure fails to satisfy the threshold includes comparing the contact measure to the threshold that represents a quantity, a location, or a combination thereof of the suction gripper contacting a surface of the target object, and holding a vacuum condition therein.

3. The method of claim 1 , wherein:

the contact measure represents an amount of grip on the target object provided by an impactive gripper; and

determining whether the contact measure fails to satisfy the threshold includes comparing the contact measure to the threshold configured to detect a shift in the target object.

4. The method of claim 1 , wherein:

the contact measure represents an amount of grip measured after gripping the target object and before initiating horizontal transfer of the target object;

the threshold is an initial threshold; and

the set of commands and/or settings includes commands and/or settings for regripping the target object.

5. The method of claim 4 , further comprising:

executing an initial portion of the base motion plan for placing a gripper of the robotic assembly about the start location and for initially gripping the target object with the gripper;

wherein:

receiving the contact measure includes receiving the contact measure determined after initially gripping the target object; and

the set of commands and/or settings are configured to operate the robotic assembly to:

release the target object, and

regrip the target object.

6. The method of claim 5 , wherein the set of commands and/or settings further includes commands and/or settings to adjust a position of the gripper between the release and the regrip.

7. The method of claim 5 , further comprising:

pausing execution of the base motion plan when the contact measure fails to satisfy the initial threshold.

8. The method of claim 1 , wherein selectively generating the set of commands and/or settings comprises calculating an adjusted motion plan that is different than a remaining portion of the base motion plan.

9. The method of claim 8 , wherein:

the contact measure represents a measurement of an amount of grip after initiating horizontal transfer of the target object; and

determining whether the contact measure fails to satisfy the threshold includes comparing the contact measure to a transfer threshold that is less than an initial grip threshold associated with initially gripping the target object before horizontally transferring the target object.

10. The method of claim 8 , further comprising:

tracking a current location of the target object during implementation of the base motion plan; and

wherein calculating the adjusted motion plan includes:

selecting a release area based on comparing the current location to a source release area, a destination release area, and/or a transit release area, and

calculating the adjusted motion plan to transfer the target object from the current location to an adjusted release location instead of the task location.

11. The method of claim 10 , wherein selecting the release area includes:

determining whether the current location is within the source release area that is associated with boundaries of a container or a pallet at the start location; and

selecting the source release area based on whether the current location is within the source release area to place the target object at the adjusted release location that is different from the start location.

12. The method of claim 10 , wherein selecting the release area includes:

determining whether the current location is within the destination release area that is associated with boundaries of a container or a pallet at the task location; and

selecting the destination release area based on the determination to intentionally place the target object at the adjusted release location therein.

13. The method of claim 10 , wherein selecting the release area includes:

determining whether the current location is within the transit release area that is between the source release area and the destination release area; and

selecting the transit release area based on the determination to intentionally place the target object at the adjusted release location therein.

14. A tangible, non-transient computer-readable medium having processor instructions stored thereon that, when executed by a robotic system via one or more processors thereof, cause the robotic system to perform a method, the method comprising:

obtaining a base motion plan configured to operate a robotic assembly to transfer a target object from a start location to a task location;

receiving a contact measure while implementing;

determining whether the contact measure fails to satisfy a threshold; and

selectively generating a set of commands and/or settings based on determination.

15. A robotic system, comprising:

at least one processor; and

at least one memory device connected to the at least one processor and having stored thereon instructions executable by the processor for:

obtaining a base motion plan configured to operate a robotic assembly to transfer a target object from a start location to a task location;

receiving a contact measure while implementing the base motion plan;

determining whether the contact measure fails to satisfy a threshold; and

selectively generating a set of commands and/or settings based on the determination.

16. The robotic system of claim 15 , wherein the contact measure represents a force, a torque, a pressure, or a combination thereof associated with a suction gripper or a set of jaws of the robotic assembly used to contact and grip the target object.

17. The robotic system of claim 15 , wherein the memory device includes instructions executable by the processor for:

tracking a current location of the target object during implementation of an initial portion of the base motion plan;

receiving the contact measure that represents an amount of grip after initiating horizontal transfer of the target object;

selecting a release area based on the current location, wherein the release area is selected from a source release area, a destination release area, a transit release area, or a combination thereof,

calculating an adjusted release location in the selected release area, wherein the adjusted release location is calculated after the contact measure is determined to be below the threshold, and

calculating an adjusted motion plan based on selectively generating the set of the commands and/or the settings, wherein the adjusted motion plan is configured to transfer the target object from the current location to the adjusted release location, wherein the adjusted release location is different from the task location.

18. The robotic system of claim 17 , wherein the memory device includes instructions executable by the processor for:

selecting the release area as the source release area, the destination release area, or the transit release area that overlaps with the current location intentionally placing the target object therein instead of the task location and instead of the start location, wherein:

the source release area is associated with boundaries of a container or a pallet including the start location,

the destination release area is associated with boundaries of a container or a pallet including the task location, and

the transit release area is between the source release area and the destination release area.

19. The robotic system of claim 15 , wherein the memory device includes instructions executable by the processor for:

receiving the contact measure that represents an amount of grip after gripping the target object and before initiating horizontal transfer of the target object; and

wherein:

the set of commands and/or settings includes regrip commands, regrip settings, or a combination thereof that are not in the base motion plan and that are for releasing and regripping the target object.

20. The robotic system of claim 19 , wherein the memory device includes instructions executable by the processor for:

implementing the base motion plan to place a gripper about the start location and grip the target object with the gripper;

wherein:

the contact measure represents an amount of grip determined after gripping the target object; and

the set of commands and/or settings are configured to operate the robotic assembly to:

release the target object after executing the base motion plan, and

regrip the target object.

Assignments (1)

Continuity (5)

References Cited (79)