US 11,833,681 B2
Robotic control system
Shariq Iqbal, Los Angeles, CA (US); Jonathan Tremblay, Redmond, WA (US); Thang Hong To, Redmond, WA (US); Jia Cheng, Monroe, WA (US); Erik Leitch, Bishop, CA (US); Duncan J. McKay, Woodinville, WA (US); and Stanley Thomas Birchfield, Sammamish, WA (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Aug. 23, 2019, as Appl. No. 16/549,831.
Claims priority of provisional application 62/722,717, filed on Aug. 24, 2018.
Prior Publication US 2020/0061811 A1, Feb. 27, 2020
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); G06T 7/73 (2017.01); G06N 3/08 (2023.01)
CPC B25J 9/161 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1669 (2013.01); G06N 3/08 (2013.01); G06T 7/74 (2017.01); G06T 2207/30244 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A system, comprising:
an articulated robot with a manipulator;
one or more processors; and
memory storing executable instructions that, as a result of being executed by the one or more processors, cause the system to at least:
identify a real-world object and a grasp pose with which to grasp the real-world object;
obtain a first image from a camera, the camera positioned to track an axis of the manipulator;
move the manipulator to a real-world pre-grasp position that matches a simulated pre-grasp position determined based at least in part on the grasp pose and an estimated pose of the real-world object determined using the first image;
provide a second image from the camera to a neural network to produce a value from a value function; and
move the manipulator based on the value to grasp the real-world object with the manipulator.