CPC B25J 9/10 (2013.01) [B25J 9/1612 (2013.01); B25J 13/08 (2013.01); B25J 15/0683 (2013.01); B66F 9/02 (2013.01)] | 20 Claims |
1. A computer-implemented method when executed by data processing hardware of a robot causes the data processing hardware to perform operations comprising:
receiving a minimum object size for a plurality of objects varying in size, each object of the plurality of objects having at least one planar surface, the robot comprising a gripper with a plurality of vacuum suction cups;
dividing a grip area of the gripper into a plurality of zones based on the minimum object size;
locating, using sensor data, a target candidate object of the plurality of objects;
determining, for the grip area of the gripper, a target zone configuration of one or more zones of the plurality of zones that corresponds to an area of a top surface of the target candidate object;
determining a grasp pose for the target candidate object, the grasp pose aligning the target zone configuration of the gripper with the at least one planar surface of the target candidate object; and
executing the grasp pose to lift the target candidate object by the gripper, the gripper activating each zone of the target zone configuration.
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