US 11,654,582 B2
Optimization-based spring lattice deformation model for soft materials
Andrew D. Marchese, Concord, MA (US); William Clay Flannigan, Cambridge, MA (US); and Parris S. Wellman, Reading, MA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Sep. 4, 2020, as Appl. No. 17/13,079.
Application 17/013,079 is a continuation of application No. 15/934,498, filed on Mar. 23, 2018, granted, now 10,766,149.
Prior Publication US 2020/0398441 A1, Dec. 24, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 15/00 (2006.01); B25J 9/02 (2006.01)
CPC B25J 15/0616 (2013.01) [B25J 9/0009 (2013.01); B25J 9/02 (2013.01); B25J 9/1605 (2013.01); B25J 9/1612 (2013.01); B25J 9/1661 (2013.01); B25J 9/1669 (2013.01); B25J 9/1697 (2013.01); B25J 15/0019 (2013.01); G05B 2219/39484 (2013.01); G05B 2219/39514 (2013.01)] 20 Claims
OG exemplary drawing
9. A system, comprising:
a robotic picking arm having a suction device adapted for retrieving items and transporting the items to a determined location;
one or more computer processors; and
control logic for the robotic picking arm that, when executed by operation of the one or more computer processors, performs an operation, comprising:
determining a candidate contact point for holding an item using a suction device of a robotic picking arm;
predicting a deformed shape of the suction device when in contact with the item at the candidate contact point;
determining a seal quality metric for the candidate contact point, based at least in part on the deformed shape of the suction device; and
upon determining that the seal quality metric satisfies a predetermined condition, controlling movement of the robotic picking arm to retrieve the item by holding the item using the suction device at the candidate contact point.