Robotic tools and methods for operating the same
A system and method for operating a robotic system to use two or more tools to manipulate objects. The robotic system may coordinate planning processes and/or plan implementations based on grouping the objects.
1. A method for operating a robotic system, the method comprising:
obtaining image data representing one or more available objects at a start location;
deriving, based on the image data, a set of plans including at least a first plan and a second plan, wherein:
the first plan is for causing transfer of a target object of the available object(s) from the start location to a target location using a first tool, and
the second plan is for causing transfer of the target object of the available object(s) from the start location to the target location using a second tool;
calculating one or more cost measure for each of the first plan and the second plan, wherein the cost measure includes an estimated manipulation error parameter associated with manipulating the target object utilizing the corresponding first tool or second tool; and
selecting a transfer plan from the first plan and the second plan based on the cost measure, wherein the selected transfer plan corresponds to a lower cost measure.
2. The method recited in claim 1 , wherein the estimated manipulation error parameter is an estimated transfer error parameter associated with transferring the target object utilizing the corresponding first tool or second tool.
3. The method recited in claim 2 , wherein the estimated transfer error parameter includes an estimate of whether the target object will be dropped during transfer.
4. The method recited in claim 2 , wherein the estimated transfer error parameter includes an estimate of the movement speed of the target object and/or corresponding first or second tool during transfer.
5. The method recited in claim 4 , wherein the estimate of the movement speed is based on a gripping confidence parameter corresponding to a grip sufficiency of the target object.
6. The method recited in claim 1 , wherein:
the calculating one or more cost measure step further includes calculating a second cost measure for recovering from a transfer error;
the calculating one or more cost measure step further includes calculating a third cost measure for changing from the first tool to the second tool, or vice versa; and
the selecting the transfer plan step includes selecting the transfer plan that lowers the total combination of the cost measure, second cost measure, and third cost measure.
7. The method recited in claim 1 , wherein:
the calculating one or more cost measure step further includes calculating a second cost measure for changing from the first tool to the second tool, or vice versa; and
the selecting the transfer plan step includes selecting the transfer plan that lower the lowers the total combination of the cost measure and the second cost measure.
8. The method recited in claim 2 , wherein the estimated transfer error parameter includes an estimate of a timing and/or a complexity of movements for transferring the target object.
9. The method recited in claim 1 , wherein the estimated manipulation error is an estimated placement error parameter associated with placing the target object at the target location utilizing the corresponding first tool or second tool.
10. The method recited in claim 9 , wherein the estimated placement error parameter includes an estimate of a release pose of the target object and/or includes an estimate of an orientation of the target object at a time of release.
11. The method recited in claim 1 , wherein:
the calculating one or more cost measure step includes calculating a second cost measure for each of the first plan and the second plan, wherein the second cost measure includes a timing and/or a complexity of movements for achieving a release pose; and
the selected transfer plan corresponds to the lower cost measure of the total of the cost measure and the second cost measure.
12. The method recited in claim 1 , wherein the estimated manipulation error is an estimated grasping error parameter associated with grasping the target object at the start location utilizing the corresponding first tool or second tool.
13. The method recited in claim 12 , wherein the estimated grasping error parameter further includes an estimate of the corresponding first tool or second tool colliding with another object or an environmental object before grasping the target object.
14. The method recited in claim 1 , wherein:
the calculating one or more cost measure step further includes calculating a second cost measure for changing between the first tool and the second tool, or vice versa; and
the selecting the transfer plan step includes selecting the transfer plan that lowers the total combination of the cost measure and the second cost measure.
15. A tangible, non-transitory computer-readable medium having processor instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
obtaining image data representing one or more available objects at a start location;
deriving, based on the image data, a set of plans including at least a first plan and a second plan, wherein:
the first plan is for causing transfer of a target object of the available object(s) from the start location to a target location using a first tool, and
the second plan is for causing transfer of the target object of the available object(s) from the start location to the target location using a second tool;
calculating one or more cost measure for each of the first plan and the second plan, wherein the cost measure includes an estimated manipulation error parameter associated with manipulating the target object utilizing the corresponding first tool or second tool;
selecting a transfer plan from the first plan and the second plan based on the cost measure, wherein the selected transfer plan corresponds to a lower cost measure.
16. The tangible, non-transitory computer-readable medium of claim 15 , wherein the estimated manipulation error parameter is an estimated transfer error parameter associated with transferring the target object utilizing the corresponding first tool or second tool.
17. The tangible, non-transitory computer-readable medium of claim 15 , wherein the estimated manipulation error is an estimated placement error parameter associated with placing the target object at the target location utilizing the corresponding first tool or second tool.
18. A robotic system comprising:
at least one processor coupled to the communication circuit and configured to:
obtain image data representing one or more available objects at a start location;
derive, based on the image data, a set of plans including at least a first plan and a second plan, wherein:
the first plan is for causing transfer of a target object of the available object(s) from the start location to a target location using a first tool, and
the second plan is for causing transfer of the target object of the available object(s) from the start location to the target location using a second tool;
calculate one or more cost measure for each of the first plan and the second plan, wherein the cost measure includes an estimated manipulation error parameter associated with manipulating the target object utilizing the corresponding first tool or second tool;
select a transfer plan from the first plan and the second plan based on the cost measure, wherein the selected transfer plan corresponds to a lower cost measure; and
a communication circuit configured to communicate the selected transfer plan.
19. The system of claim 18 , wherein the estimated manipulation error parameter is an estimated transfer error parameter associated with transferring the target object utilizing the corresponding first tool or second tool.
20. The system of claim 18 , wherein the estimated manipulation error is an estimated placement error parameter associated with placing the target object at the target location utilizing the corresponding first tool or second tool.