US 12,454,050 B2
Reactive interactions for robotic applications and other automated systems
Wei Yang, Seattle, WA (US); Balakumar Sundaralingam, Seattle, WA (US); Christopher Jason Paxton, Pittsburgh, PA (US); Maya Cakmak, Seattle, WA (US); Yu-Wei Chao, Redmond, WA (US); Dieter Fox, Seattle, WA (US); and Iretiayo Akinola, Gig Harbor, WA (US)
Assigned to Nvidia Corporation, Santa Clara, CA (US)
Filed by Nvidia Corporation, Santa Clara, CA (US)
Filed on Jun. 30, 2022, as Appl. No. 17/854,730.
Claims priority of provisional application 63/321,755, filed on Mar. 20, 2022.
Prior Publication US 2023/0294277 A1, Sep. 21, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/1605 (2013.01); B25J 9/1666 (2013.01); G05B 19/4155 (2013.01); G05B 2219/40269 (2013.01); G05B 2219/50391 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving data representative of an environment, the environment including an object held by a human hand;
determining, based at least in part on evaluating one or more potential grasp options corresponding to a robot, a target grasp option from the one or more potential grasp options;
determining a sequence of motions between an initial position and a final position corresponding to the robot according to the target grasp option, the sequence of motions being determined based at least in part on minimizing one or more cost functions and satisfying one or more motion constraints;
causing, at individual time steps corresponding to one or more motions of the sequence of motions, the robot to perform a respective motion of the sequence of motions;
detecting contact of the robot with the object corresponding to the target grasp position; and
causing an end-effector of the robot to grasp the object.