US 12,390,923 B2
Robotic gripper assemblies for openable object(s) and methods for picking objects
Puttichai Lertkultanon, Tokyo (JP); Hironori Mizoguchi, Tokyo (JP); Yoshiki Kanemoto, Tokyo (JP); and Rosen Nikolaev Diankov, Tokyo (JP)
Assigned to MUJIN, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Sep. 2, 2022, as Appl. No. 17/902,694.
Claims priority of provisional application 63/241,460, filed on Sep. 7, 2021.
Prior Publication US 2023/0070495 A1, Mar. 9, 2023
Int. Cl. B25J 9/16 (2006.01); B65G 47/90 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B65G 47/905 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robotic system comprising;
a controller configured to:
determine, based on dimensions of a target object having one or more lids, a grip location on the target object for engagement by a robotic gripper assembly, wherein the robotic gripper assembly includes:
a first gripper portion configured to grasp the target object at the grip location, and
a second gripper portion adjacent to the first gripper portion,
wherein:
the first gripper portion is individually extendable, relative to the second gripper portion, to initially grasp the target object and retract with the target object, and
the second gripper portion is configured to grasp the target object after initial grasp and retraction of the first gripper portion;
determine a reference axis for aligning the robotic gripper assembly with the target object for engaging the first and/or the second gripper portions of the robotic gripper assembly;
derive a motion plan for operating the robotic gripper assembly to:
align the robotic gripper assembly with the target object based on the reference axis;
contact the target object at the grip location with the first and/or the second gripper portions;
provide a gripping force through the first and/or the second gripper portions to grip the target object at the grip location; and
transfer the target object to a target location according to the reference axis to maintain an angled pose of the target object that maintains the one or more lids of the target object stable relative to a reference portion of the target object.