US 12,280,967 B2
Robotic tools and methods for operating the same
Shintaro Matsuoka, Tokyo (JP); Hironori Mizoguchi, Tokyo (JP); and Rosen Nikolaev Diankov, Tokyo (JP)
Assigned to MUJIN, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on May 10, 2024, as Appl. No. 18/661,462.
Application 18/661,462 is a continuation of application No. 17/392,108, filed on Aug. 2, 2021, granted, now 11,981,518.
Claims priority of provisional application 63/109,870, filed on Nov. 5, 2020.
Prior Publication US 2025/0026589 A1, Jan. 23, 2025
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65G 47/91 (2006.01); B65G 67/24 (2006.01)
CPC B65G 47/917 (2013.01) [B25J 9/1664 (2013.01); B65G 47/918 (2013.01); B65G 67/24 (2013.01); B65G 2203/0233 (2013.01); B65G 2203/0283 (2013.01); B65G 2203/0291 (2013.01); B65G 2203/041 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for operating a robotic system, the method comprising:
obtaining image data representing one or more available objects at a start location;
deriving, based on the image data, a set of plans including at least a first plan and a second plan, wherein:
the first plan is for causing transfer of a target object of the available object(s) from the start location to a target location using a first tool, and
the second plan is for causing transfer of the target object of the available object(s) from the start location to the target location using a second tool;
calculating one or more cost measure for each of the first plan and the second plan, wherein the cost measure includes an estimated manipulation error parameter associated with manipulating the target object utilizing the corresponding first tool or second tool; and
selecting a transfer plan from the first plan and the second plan based on the cost measure, wherein the selected transfer plan corresponds to a lower cost measure.