公开(公告)号：US20160136808A1

公开(公告)日：2016-05-19

申请号：US15006264

申请日：2016-01-26

Applicant: Google Inc.

Inventor： Kurt Konolige ,  Ethan Rublee ,  Mrinal Kalakrishnan

IPC: B25J9/16 ,  B25J5/00 ,  B25J15/06

CPC classification number: B25J9/1612 ,  B25J5/007 ,  B25J9/1633 ,  B25J9/1664 ,  B25J15/0616 ,  G05B2219/37345 ,  G05B2219/40006 ,  G05B2219/40512 ,  G05B2219/40513 ,  G05B2219/45056 ,  Y10S901/09 ,  Y10S901/27 ,  Y10S901/30 ,  Y10S901/46

Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

Abstract translation: 示例系统和方法可以用于确定使用机器人装置移动对象的轨迹。 一个示例性方法包括基于多个可能的对象测量来确定用于利用机器人操纵器的末端执行器移动对象的多个可能轨迹。 该方法可以进一步包括使机器人操纵器用端部执行器拾起物体。 在使机器人操纵器用末端执行器拾起物体之后，该方法还可以包括从指示物体的一个或多个测量的一个或多个传感器接收传感器数据。 基于所接收的传感器数据，该方法可以另外包括从多个可能的轨迹中选择用于移动对象的轨迹。 该方法还可以包括使机器人操纵器通过所选择的轨迹移动对象。

公开(公告)号：US09272417B2

公开(公告)日：2016-03-01

申请号：US14333258

申请日：2014-07-16

Applicant: Google Inc.

Inventor： Kurt Konolige ,  Ethan Rublee ,  Mrinal Kalakrishnan

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  B25J5/007 ,  B25J9/1633 ,  B25J9/1664 ,  B25J15/0616 ,  G05B2219/37345 ,  G05B2219/40006 ,  G05B2219/40512 ,  G05B2219/40513 ,  G05B2219/45056 ,  Y10S901/09 ,  Y10S901/27 ,  Y10S901/30 ,  Y10S901/46

Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

Abstract translation: 示例系统和方法可以用于确定使用机器人装置移动对象的轨迹。 一个示例性方法包括基于多个可能的对象测量来确定用于利用机器人操纵器的末端执行器移动对象的多个可能轨迹。 该方法可以进一步包括使机器人操纵器用端部执行器拾起物体。 在使机器人操纵器用末端执行器拾起物体之后，该方法还可以包括从指示物体的一个或多个测量的一个或多个传感器接收传感器数据。 基于所接收的传感器数据，该方法可以另外包括从多个可能的轨迹中选择用于移动对象的轨迹。 该方法还可以包括使机器人操纵器通过所选择的轨迹移动对象。

公开(公告)号：US09393693B1

公开(公告)日：2016-07-19

申请号：US14467348

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Mrinal Kalakrishnan ,  Ethan Rublee

IPC: B25J9/16

CPC classification number: B25J9/1671 ,  B25J9/1602 ,  B25J9/1633 ,  G05B2219/39332 ,  G05B2219/40006 ,  G05B2219/40521 ,  Y10S901/02

Abstract: Methods and systems for determining and modeling admissible gripper forces are described. An example method may involve receiving data representative of a plurality of trajectories along which a robotic manipulator, while gripping one or more physical objects, previously moved the one or more objects without dropping the one or more objects. The method may also involve determining set of force vectors corresponding to the trajectories. The method may also involve determining a three-dimensional virtual model of the set, where boundaries of the model represent constraints on magnitudes of forces that are applied in a given direction to perform the trajectories. The method may then involve determining one or more subsequent trajectories that correspond to a subsequent set of force vectors that are within the boundaries of the model and along which the robotic manipulator can move a subsequent physical object at particular accelerations without dropping the subsequent object.

Abstract translation: 描述了用于确定和建模允许的夹持力的方法和系统。 示例性方法可以包括接收表示多个轨迹的数据，在抓住一个或多个物理对象之前，机器人操纵器先前移动了一个或多个对象而不掉下一个或多个对象。 该方法还可以涉及确定与轨迹相对应的力矢量集合。 该方法还可以涉及确定该集合的三维虚拟模型，其中模型的边界表示在给定方向上施加以执行轨迹的力的大小的约束。 该方法然后可以涉及确定与在模型的边界内的随后的一组力向量相对应的一个或多个后续轨迹，并且机器人操纵器可以沿着该轨迹移动特定加速度处的后续物理对象而不会丢弃随后的对象。

公开(公告)号：US20160016311A1

公开(公告)日：2016-01-21

申请号：US14333258

申请日：2014-07-16

Applicant: Google Inc.

Inventor： Kurt Konolige ,  Ethan Rublee ,  Mrinal Kalakrishnan

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  B25J5/007 ,  B25J9/1633 ,  B25J9/1664 ,  B25J15/0616 ,  G05B2219/37345 ,  G05B2219/40006 ,  G05B2219/40512 ,  G05B2219/40513 ,  G05B2219/45056 ,  Y10S901/09 ,  Y10S901/27 ,  Y10S901/30 ,  Y10S901/46

Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. Alter causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

Abstract translation: 示例系统和方法可以用于确定使用机器人装置移动对象的轨迹。 一个示例性方法包括基于多个可能的对象测量来确定用于利用机器人操纵器的末端执行器移动对象的多个可能轨迹。 该方法可以进一步包括使机器人操纵器用端部执行器拾起物体。 改变使机器人操纵器用末端执行器拾取对象，该方法还可以包括从指示对象的一个​​或多个测量的一个或多个传感器接收传感器数据。 基于所接收的传感器数据，该方法可以另外包括从多个可能的轨迹中选择用于移动对象的轨迹。 该方法还可以包括使机器人操纵器通过所选择的轨迹移动对象。