OBJECT MANIPULATION
A robot for object manipulation may include sensors, a robot appendage, actuators configured to drive joints of the robot appendage, a planner, and a controller. Object path planning may include determining poses. Object trajectory optimization may include assigning a set of timestamps to the poses,...
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| creator | SOLTANI ZARRIN, Rana JITOSHO, Rianna |
| description | A robot for object manipulation may include sensors, a robot appendage, actuators configured to drive joints of the robot appendage, a planner, and a controller. Object path planning may include determining poses. Object trajectory optimization may include assigning a set of timestamps to the poses, optimizing a cost function which may be a cost function for finger sliding based on a penalty for a sliding distance, a change in desired normal direction, and a wrench error associated with sliding a robot finger, and generating an object trajectory based on the optimized cost function. Grasp sequence planning may be model-based or deep reinforcement learning (DRL) policy based. The controller may execute the object trajectory and the grasp sequence via the robot appendage and actuators. |
| format | Patent |
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Object trajectory optimization may include assigning a set of timestamps to the poses, optimizing a cost function which may be a cost function for finger sliding based on a penalty for a sliding distance, a change in desired normal direction, and a wrench error associated with sliding a robot finger, and generating an object trajectory based on the optimized cost function. Grasp sequence planning may be model-based or deep reinforcement learning (DRL) policy based. The controller may execute the object trajectory and the grasp sequence via the robot appendage and actuators.</description><language>eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230316&DB=EPODOC&CC=US&NR=2023084968A1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25543,76294</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230316&DB=EPODOC&CC=US&NR=2023084968A1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>SOLTANI ZARRIN, Rana</creatorcontrib><creatorcontrib>JITOSHO, Rianna</creatorcontrib><title>OBJECT MANIPULATION</title><description>A robot for object manipulation may include sensors, a robot appendage, actuators configured to drive joints of the robot appendage, a planner, and a controller. 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| language | eng |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING |
| title | OBJECT MANIPULATION |
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