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公开(公告)号：US09975242B1
公开(公告)日：2018-05-22
申请号：US15604579
申请日：2017-05-24
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
CPC classification number: B25J9/1612 , G05B2219/39476 , G05B2219/40386 , Y10S901/32 , Y10S901/46
Abstract: A grasp management system and corresponding methods are described. In some examples, information about a grasp by which an end of arm tool of a robotic manipulator successfully grasped an item is accessed. The grasp may be associated with contact points on the item. Other contact points may be simulated based on the contact points in order to define a grasping surface that includes at least a portion of the other contact points. Information about the grasping surface may be accessed to determine a primitive shape that represents a feature of the item. The primitive shape may be used determine other features on the item or other features on other items that may also be graspable by the end of arm tool or other end of arm tools.
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公开(公告)号：US09694494B1
公开(公告)日：2017-07-04
申请号：US14966912
申请日：2015-12-11
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
CPC classification number: B25J9/1612 , G05B2219/39476 , G05B2219/40386 , Y10S901/32 , Y10S901/46
Abstract: A grasp management system and corresponding methods are described. In some examples, information about a grasp by which an end of arm tool of a robotic manipulator successfully grasped an item is accessed. The grasp may be associated with contact points on the item. Other contact points may be simulated based on the contact points in order to define a set of grasping surfaces that include at least a portion of the other contact points. Information about the grasping surfaces may be accessed to determine a primitive shape that represents a feature of the item. The primitive shape may be used determine other features on the item or other features on other items that may also be graspable by the end of arm tool or other end of arm tools.
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公开(公告)号：US10576625B1
公开(公告)日：2020-03-03
申请号：US15973385
申请日：2018-05-07
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
IPC: B25J9/16
Abstract: A grasp management system and corresponding methods are described. In some examples, information about a set of grasps of a robotic manipulator is accessed. The information is used by the robotic manipulator to attempt to grasp an item using the set of grasps associated with a first grasping orientation. An orientation of the robotic manipulator can be adjusted into a second grasping orientation and the robotic manipulator can attempt to grasp the item using the set of grasps associated with the second grasping orientation. Information about the attempts can be recorded and used to determine a richness measure that may represent a richness of the set of grasps for the item.
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公开(公告)号：US09669543B1
公开(公告)日：2017-06-06
申请号：US14966958
申请日：2015-12-11
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
CPC classification number: B25J9/1612 , G05B2219/39476 , G05B2219/40386 , Y10S901/32 , Y10S901/46
Abstract: A grasp management system and corresponding method are described. In some examples, it is determined whether an end of arm tool of a robotic manipulator is capable of grasping an item in a first orientation and a second orientation. Information regarding success of the attempts may be retained in a database. A richness measure for each of the first orientation and the second orientation may be determined based upon a spatial variation of successful attempted grasps in the respective orientation.
