US 12,440,974 B2
Method and system for autonomous object manipulation
David N. Walsh, Brooklyn, NY (US); Eric A. Litman, Brooklyn, NY (US); Charles Paul Pace, Manchester Center, VT (US); and Matthew DiCicco, Brooklyn, NY (US)
Assigned to Aescape, Inc., New York, NY (US)
Filed by Aescape, Inc., New York, NY (US)
Filed on Apr. 26, 2024, as Appl. No. 18/648,116.
Application 18/648,116 is a continuation of application No. 17/319,062, filed on May 12, 2021, granted, now 11,999,061.
Claims priority of provisional application 63/023,833, filed on May 12, 2020.
Prior Publication US 2024/0342903 A1, Oct. 17, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/106 (2013.01); B25J 9/1664 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a robotic manipulator including an end effector; and
one or more processors configured to:
cause the end effector to contact a deformable surface of an object at a first location on the deformable surface and apply a predefined amount of force to the deformable surface;
sense force data based at least in part on interaction of the end effector and the object; and
generate a manipulation plan based at least in part on the sensed force data to manage progression of the end effector from the first location on the deformable surface to a second location on the deformable surface while maintaining contact with the deformable surface.