US 12,330,304 B2
Object placement
Abhishek Sriraman, Union City, CA (US); Ajinkya Jain, San Jose, CA (US); and John Carter Wendelken, Oakland, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by Intrinsic Innovation LLC, Mountain View, CA (US)
Filed on Feb. 2, 2023, as Appl. No. 18/105,178.
Claims priority of provisional application 63/305,864, filed on Feb. 2, 2022.
Prior Publication US 2023/0241771 A1, Aug. 3, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1697 (2013.01); G05B 19/4155 (2013.01); B25J 9/1664 (2013.01); G05B 2219/39008 (2013.01); G05B 2219/39484 (2013.01); G05B 2219/40053 (2013.01); G05B 2219/40564 (2013.01); G05B 2219/45063 (2013.01); G05B 2219/50391 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method performed by one or more computers in communication with a robot, the method comprising:
providing one or more commands to the robot that cause the robot to grasp an object by an end effector of the robot;
determining an initial in-hand state for the grasped object representing an initial pose of the grasped object relative to the end effector of the robot grasping the grasped object;
determining a show pose for the grasped object relative to a sensor in the operating environment of the robot;
moving, by the robot, the object to have the show pose in the operating environment;
determining, using sensor data captured of the object in the show pose, a refined in-hand state for the grasped object representing a refined pose of the grasped object relative to the end effector of the robot;
determining a placement plan based on the refined in-hand state of the grasped object; and
providing one or more commands to the robot that cause the robot to place the grasped object according to the refined in-hand state of the grasped object.