公开(公告)号：WO2021171095A1

公开(公告)日：2021-09-02

申请号：PCT/IB2021/000124

申请日：2021-02-26

Applicant: GREYORANGE PTE. LTD.

Inventor： PITHA, Robert ,  KIRULUTA, Andrew ,  LEWIS, Andrew ,  SCHAFFERT, Shawn ,  KUMAR, Avilash ,  NARKAR, Sameer ,  HOFMANN, Andreas ,  SOROUT, Nikhil ,  TOLIA, Vaibhav ,  LIVIANU, Mathew ,  ECHEVERRIA, Daniel ,  SHEKHAWAT, Anirudh ,  TIWARY, Sumit ,  SONI, Manish ,  PATIL, Akash

IPC: B65G47/90 ,  B65G61/00 ,  B25J9/16 ,  B25J15/00 ,  B25J9/00 ,  G06T1/00

Abstract: A control server controls a dual-arm robotic manipulator (DARM) for handling deformable objects in a stack. The control server receives a set of images of the stack captured by a set of image sensors, and determines a contour of the stack based the set of images. Based on the contour and historical data associated with the deformable objects m the stack, the control server determines a sequence of actions to be performed by the DARM for handling a first deformable object in the stack, and controls the DARM to handle the first deformable object by communicating a set of commands corresponding to each action in sequence of actions. The first deformable object is handled such that original form factors of the first deformable object and the remaining stack are maintained.