公开(公告)号：US20230311330A1

公开(公告)日：2023-10-05

申请号：US18127789

申请日：2023-03-29

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Alexis BURNS ,  Pedro PIACENZA ,  Larry JACKEL ,  Shurna SONG ,  Daewon LEE

IPC: B25J9/16 ,  B67D3/00

CPC classification number: B25J9/1697 ,  B25J9/1679 ,  B67D3/0051

Abstract: Provided are a robotic device and a method for controlling a robotic device for pouring a granular media including obtaining an image of a receiving container, identifying, using the image and a convolutional neural network, a current height of granular media in the receiving container, identifying a terminal height of the granular media in the receiving container, determining an input trajectory signal to the robotic device for pouring a non-granular media to the terminal height of the granular media based on the current height of the granular media, determining a wrist tilt command signal by modifying the input trajectory signal using a square wave that is based on a type of the granular media, and controlling the robotic device to tilt and vibrate a source container according to the wrist tilt command signal.

公开(公告)号：US20240091951A1

公开(公告)日：2024-03-21

申请号：US18367827

申请日：2023-09-13

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Nikhil Narsingh CHAVAN DAFLE ,  Vasileios VASILOPOULOS ,  Shubham AGRAWAL ,  Jinwook HUH ,  Suveer GARG ,  Pedro PIACENZA ,  Isaac Hisano KASAHARA ,  Kazim Selim ENGIN ,  Zhanpeng HE ,  Shuran SONG ,  Ibrahim Volkan ISLER

IPC: B25J9/16 ,  G06T7/60 ,  G06T7/73

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/163 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Systems, methods, and apparatuses for controlling a robot including a manipulator, including: determining three-dimensional (3D) geometry information about a target object based on an image of the target object; determining 3D geometry information about a scene in which the target object is to be placed based on at least one image of the scene; obtaining affordance information by providing the 3D geometry information about the target object and the 3D geometry information about the scene to at least one neural network model; commanding the robot to grasp the target object using the manipulator according to a grasp orientation corresponding to the affordance information; and commanding the robot to position the manipulator according to a placement direction corresponding to the affordance information in order to place the target object at a location in the scene.