Intelligent gripper with individual cup control

Abstract

To provide a system and a method related to an intelligent gripper with individual cup control.SOLUTION: One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises the steps of: applying vacuum to two or more cup assemblies of the robotic gripper in contact with the object; moving the object by using the robotic gripper after applying the vacuum to the two or more cup assemblies; and determining the grip quality between the robotic gripper and the object by using at least one pressure sensor associated with each of the two or more cup assemblies.SELECTED DRAWING: None

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit under 35 U.S.C. Section 119(e) of U.S. Provisional Application No. 62 / 949,424, filed December 17, 2019, entitled "Intelligent Gripper with Individual Cup Control," the disclosure of which is incorporated by reference in its entirety. [Background technology]

[0002] A robot is broadly defined as a reprogrammable and multi-function manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of tasks. A robot can be a physically anchored manipulator (e.g., an industrial robotic arm), a mobile robot that moves throughout an environment (e.g., using legs, wheels, or traction-based mechanisms), or some combination of a manipulator and a mobile robot. Robots are utilized in a variety of industries, including, for example, manufacturing, transportation, hazardous environments, exploration, and medicine. Summary of the Invention [Means for solving the problem]

[0003] One aspect of the present disclosure provides a method for determining a quality of a grip between a robotic gripper and an object, the method including applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining a quality of a grip between the robotic gripper and the object using at least one pressure sensor associated with each of the two or more cup assemblies.

[0004] In another aspect, the method further includes measuring a total wrench into the robot gripper while moving the object.

[0005] In another aspect, the method further includes selecting an acceleration rate for the robotic gripper based at least in part on the measured total wrench.

[0006] In another aspect, the method further includes selecting an acceleration rate for the robotic gripper based at least in part on the determined grip quality.

[0007] In another aspect, the method further includes selecting an acceleration for the robotic gripper based at least in part on the measured total wrench and the determined grip quality.

[0008] In another aspect, selecting an acceleration for the robotic gripper includes selecting an acceleration for the robotic gripper based at least in part on a comparison of the determined grip quality and the measured total wrench.

[0009] In another aspect, selecting an acceleration rate for the robotic gripper includes increasing the acceleration rate for the robotic gripper when a ratio of the determined grip quality to the measured total grip rate exceeds a threshold value.

[0010] In another aspect, selecting an acceleration rate for the robotic gripper includes decreasing the acceleration rate for the robotic gripper when a ratio of the determined grip quality to the measured total grip rate falls below a threshold value.

[0011] In another aspect, measuring the total wrench into the robot gripper while moving the object includes measuring the total wrench into the robot gripper while moving the object at a constant acceleration.

[0012] In another aspect, the method further includes continuously varying an acceleration of the robotic gripper based at least in part on a quality of a grasp between the robotic gripper and the object.

[0013] In another aspect, measuring the total wrench to the robotic gripper includes measuring the total wrench using a sensor coupled to the robotic gripper, the sensor including one or more selected from the group of a force sensor, a torque sensor, and a force / torque sensor.

[0014] In another aspect, the robotic gripper further comprises at least one processor, and determining a quality of a grip between the robotic gripper and the object is performed by the at least one processor.

[0015] In another aspect, the method further includes determining that the two or more cup assemblies are within a threshold distance from the object and applying a vacuum to the two or more cup assemblies when it is determined that the two or more cup assemblies are within the threshold distance.

[0016] In another aspect, determining that two or more cup assemblies are within a threshold distance from the object includes determining that two or more cup assemblies are in contact with the object.

[0017] In another aspect, the robotic gripper includes a distance sensor, and determining that the two or more cup assemblies are within a threshold distance from the object is based at least in part on an output of the distance sensor.

[0018] In another aspect, the distance sensor is a time-of-flight sensor.

[0019] In another aspect, moving the object includes lifting the object.

[0020] One aspect of the present disclosure provides a robotic gripper including a plurality of individually controllable vacuum assemblies, each of which includes a vacuum valve configured to couple to a cup assembly.

[0021] In another aspect, each of the vacuum valve assemblies further includes a control valve coupled to the vacuum valve and configured to actuate the vacuum valve.

[0022] In another aspect, each of the plurality of individually controllable vacuum assemblies further comprises a pressure sensor configured to sense a pressure level within the cup assembly.

[0023] In another aspect, the robotic gripper further includes a controller configured to adjust an amount of vacuum supplied to one or more of the plurality of cup assemblies based at least in part on a sensed pressure level within the plurality of cup assemblies.

[0024] In another aspect, the robotic gripper further comprises a vacuum source coupled to a control valve of each of the plurality of individually controllable vacuum assemblies.

[0025] In another aspect, each vacuum valve of the plurality of individually controllable vacuum assemblies is a poppet valve.

[0026] In another aspect, the control valve of each of the plurality of individually controllable vacuum assemblies is a solenoid valve.

[0027] In another aspect, the robotic gripper further comprises a manifold coupled to each of the plurality of individually controllable vacuum assemblies.

[0028] In another aspect, a plurality of individually controllable vacuum assemblies are arranged in a configuration having a plurality of spatial zones, each of the plurality of spatial zones including at least two vacuum assemblies, and at least one controller is configured to control control valves for each vacuum assembly in one or more of the spatial zones to simultaneously operate each vacuum valve.

[0029] In another aspect, at least two vacuum assemblies in at least one of the plurality of spatial regions are associated with cup assemblies having different sizes.

[0030] In another aspect, at least two of the cup assemblies have different sizes.

[0031] One aspect of the disclosure provides a method of adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a plurality of vacuum-based cup assemblies, the method including determining a pressure level for at least some of the plurality of cup assemblies at a first time point, adjusting an amount of vacuum supplied to one or more of the plurality of cup assemblies based at least in part on the determined pressure level, and determining a pressure level for at least some of the cup assemblies at a second time point subsequent to the first time point.

[0032] In another aspect, adjusting the amount of vacuum supplied to one or more of the plurality of cup assemblies includes controlling a control valve coupled to a vacuum valve of each of the one or more of the plurality of cup assemblies to actuate the vacuum valve.

[0033] In another aspect, determining the pressure level includes determining the pressure level using a corresponding pressure sensor associated with each of at least some of the plurality of cup assemblies.

[0034] In another aspect, adjusting the amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on the determined pressure level includes adjusting the amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on whether the determined pressure level is below a threshold value.

[0035] In another aspect, adjusting the amount of vacuum supplied to one or more of the plurality of cup assemblies includes closing one or more valves associated with one or more of the plurality of cup assemblies.

[0036] In another aspect, adjusting the amount of vacuum supplied to one or more of the plurality of cup assemblies includes adjusting the amount of vacuum supplied to each of the one or more of the plurality of cup assemblies.

[0037] One aspect of the present disclosure provides a method for selectively activating cup assemblies of a robotic gripper, the method including applying a pulse to the cup assemblies, determining a pulse response of each of the cup assemblies, and selectively activating one or more of the cup assemblies based at least in part on the determined pulse responses.

[0038] In another aspect, the method further includes normalizing the pulse response of each of the cup assemblies.

[0039] In another aspect, determining the pulse response of each of the cup assemblies includes detecting a rate of change of a pressure signal of each of the cup assemblies.

[0040] In another aspect, determining the pulse response of each of the cup assemblies includes detecting peaks in the pressure signal of each of the cup assemblies.

[0041] In another aspect, selectively activating one or more of the cup assemblies based at least in part on the determined pulse response includes selectively activating one or more of the cup assemblies based at least in part on a pulse response threshold.

[0042] In another aspect, selectively activating one or more of the cup assemblies based at least in part on the determined pulse response includes sequentially activating the cup assemblies until a target pressure drop is detected.

[0043] In another aspect, pulsing the cup assemblies includes simultaneously activating the cup assemblies for a fixed period of time.

[0044] It should be understood that all combinations of the foregoing concepts and additional concepts discussed in more detail below (provided that such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein. The present invention provides, for example, the following items. (Item 1) 1. A method for determining a grip quality between a robotic gripper and an object, the method comprising: applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object; applying the vacuum to the two or more cup assemblies and then moving the object using the robotic gripper; determining a quality of a grip between the robotic gripper and the object using at least one pressure sensor associated with each of the two or more cup assemblies; A method comprising: (Item 2) 20. The method of claim 19, further comprising measuring a total wrench into the robot gripper while moving the object. (Item 3) 2. The method of claim 1, further comprising selecting an acceleration for the robotic gripper based at least in part on the measured total wrench. (Item 4) 20. The method of claim 1, further comprising selecting an acceleration for the robotic gripper based at least in part on the determined grip quality. (Item 5) 20. The method of claim 1, further comprising selecting an acceleration for the robotic gripper based at least in part on the measured total wrench and the determined grip quality. (Item 6) 2. The method of claim 1, wherein selecting the acceleration for the robotic gripper comprises selecting the acceleration for the robotic gripper based at least in part on a comparison of the determined grip quality and the measured total wrench. (Item 7) 2. The method of claim 1, wherein selecting the acceleration for the robotic gripper includes increasing the acceleration for the robotic gripper when a ratio of the determined grip quality to the measured total grip is above a threshold. (Item 8) 2. The method of claim 1, wherein selecting the acceleration for the robotic gripper includes decreasing the acceleration for the robotic gripper when a ratio of the determined grip quality to the measured total grip falls below a threshold. (Item 9) 2. The method of claim 1, wherein measuring the total wrench into the robot gripper while moving the object includes measuring the total wrench into the robot gripper while moving the object at a constant acceleration. (Item 10) 20. The method of claim 1, further comprising continually varying an acceleration of the robotic gripper based at least in part on a quality of the grip between the robotic gripper and the object. (Item 11) The method of any one of the preceding items, wherein measuring the total wrench to the robotic gripper includes measuring the total wrench using a sensor coupled to the robotic gripper, the sensor including one or more selected from the group of a force sensor, a torque sensor, and a force / torque sensor. (Item 12) 2. The method of claim 1, wherein the robotic gripper further comprises at least one processor, and determining the quality of the grip between the robotic gripper and the object is performed by the at least one processor. (Item 13) determining that the two or more cup assemblies are within a threshold distance from the object; applying the vacuum to the two or more cup assemblies when it is determined that the two or more cup assemblies are within the threshold distance; The method according to any one of the preceding items, further comprising: (Item 14) The method of any one of the preceding claims, wherein determining that the two or more cup assemblies are within a threshold distance from the object includes determining that the two or more cup assemblies are in contact with the object. (Item 15) The method of any one of the preceding claims, wherein the robotic gripper is equipped with a distance sensor, and determining that the two or more cup assemblies are within a threshold distance from the object is based at least in part on an output of the distance sensor. (Item 16) 2. The method of claim 1, wherein the distance sensor is a time-of-flight sensor. (Item 17) 2. The method of claim 1, wherein moving the object comprises lifting the object. (Item 18) 1. A robotic gripper comprising a plurality of individually controllable vacuum assemblies, each of the vacuum assemblies comprising a vacuum valve configured to couple to a cup assembly. (Item 19) 2. The robot gripper of claim 1, wherein each of the vacuum valve assemblies further comprises a control valve coupled to the vacuum valve and configured to actuate the vacuum valve. (Item 20) 2. The robotic gripper of claim 1, wherein each of the plurality of individually controllable vacuum assemblies further comprises a pressure sensor configured to sense a pressure level within the cup assembly. (Item 21) The robotic gripper of any one of the preceding items, further comprising a controller configured to adjust an amount of vacuum supplied to one or more of the plurality of cup assemblies based at least in part on the sensed pressure level within the plurality of cup assemblies. (Item 22) 2. The robotic gripper of claim 1, further comprising a vacuum source coupled to a control valve of each of the plurality of individually controllable vacuum assemblies. (Item 23) 2. The robot gripper of claim 1, wherein each of the vacuum valves of the plurality of individually controllable vacuum assemblies is a poppet valve. (Item 24) Item 10. The robot gripper of claim 1, wherein the control valve of each of the plurality of individually controllable vacuum assemblies is a solenoid valve. (Item 25) 2. The robotic gripper of claim 1, further comprising a manifold coupled to each of the plurality of individually controllable vacuum assemblies. (Item 26) The robot gripper of any one of the preceding items, wherein the multiple individually controllable vacuum assemblies are arranged in a configuration having multiple spatial zones, each of the multiple spatial zones including at least two vacuum assemblies, and the controller is configured to control the control valves for each vacuum assembly in one or more of the spatial zones and to operate each vacuum valve simultaneously. (Item 27) The robot gripper of any one of the preceding items, wherein the at least two vacuum assemblies in at least one of the plurality of spatial regions are associated with cup assemblies having different sizes. (Item 28) 2. The robotic gripper of claim 1, wherein at least two of the cup assemblies have different sizes. (Item 29) 1. A method of adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a plurality of vacuum-based cup assemblies, the method comprising: determining a pressure level at a first time for at least some of the plurality of cup assemblies; adjusting an amount of vacuum supplied to one or more of the plurality of cup assemblies based at least in part on the determined pressure level; determining the pressure level for at least some of the cup assemblies at a second time point subsequent to the first time point; A method comprising: (Item 30) The method of any one of the preceding claims, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies includes controlling a control valve coupled to a vacuum valve of each of the one or more of the plurality of cup assemblies to actuate the vacuum valve. (Item 31) The method of any one of the preceding claims, wherein determining the pressure level includes determining the pressure level using a corresponding pressure sensor associated with each of the at least some of the plurality of cup assemblies. (Item 32) The method of any one of the preceding claims, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies based at least in part on the determined pressure level includes adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies based at least in part on whether the determined pressure level is below a threshold. (Item 33) 2. The method of claim 1, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies includes closing one or more valves associated with the one or more of the plurality of cup assemblies. (Item 34) The method of any one of the preceding claims, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies includes adjusting the amount of vacuum supplied to each of the one or more of the plurality of cup assemblies. (Item 35) 1. A method for selectively activating a cup assembly of a robotic gripper, the method comprising: applying a pulse to the cup assembly; determining a pulse response of each of said cup assemblies; selectively activating one or more of the cup assemblies based at least in part on the determined pulse response; A method comprising: (Item 36) Item 11. The method of any one of the preceding items, further comprising normalizing the pulse response of each of the cup assemblies. (Item 37) 2. The method of claim 1, wherein determining the pulse response of each of the cup assemblies includes detecting a rate of change of a pressure signal of each of the cup assemblies. (Item 38) Item 11. The method of any one of the preceding items, wherein determining the pulse response of each of the cup assemblies includes detecting peaks in a pressure signal of each of the cup assemblies. (Item 39) 2. The method of claim 1, wherein selectively activating one or more of the cup assemblies based at least in part on the determined pulse responses comprises selectively activating one or more of the cup assemblies based at least in part on a pulse response threshold. (Item 40) The method of any one of the preceding claims, wherein selectively activating one or more of the cup assemblies based at least in part on the determined pulse response includes sequentially activating cup assemblies until a target pressure drop is detected. (Item 41) Item 11. The method of any one of the preceding items, wherein applying a pulse to the cup assemblies includes activating the cup assemblies simultaneously for a fixed period of time. (overview) Systems and methods relating to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method for determining a quality of a grip between a robotic gripper and an object. The method includes applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining a quality of a grip between the robotic gripper and the object using at least one pressure sensor associated with each of the two or more cup assemblies. [Brief description of the drawings]

[0045] [Figure 1A] FIG. 1A is a perspective view of an example of a robot moving a box through an environment.

[0046] [Figure 1B] FIG. 1B is a perspective view of an example of a robot.

[0047] [Figure 1C] FIG. 1C is a schematic diagram of one example configuration of the robotic system of FIG. 1B.

[0048] [Figure 2A] FIG. 2A illustrates a perspective view of one example of a robotic gripper.

[0049] [Figure 2B] FIG. 2B illustrates a side view of one example of a robotic gripper.

[0050] [Figure 2C] FIG. 2C illustrates a bottom view of one example of a robotic gripper.

[0051] [Figure 2D] FIG. 2D illustrates a bottom view of another example of a robotic gripper.

[0052] [Diagram 3] FIG. 3 illustrates one example of an individually controllable vacuum assemblies.

[0053] [Figure 4] FIG. 4 illustrates an enlarged portion of the vacuum assembly of FIG.

[0054] [Diagram 5] FIG. 5 illustrates one example of a process for adjusting the amount of vacuum supplied to individual cup assemblies in a robotic gripper.

[0055] [Figure 6]FIG. 6 illustrates an example of a process for determining the quality of a grip between a vacuum-based gripper and an object.

[0056] [Figure 7A] FIG. 7A illustrates a top schematic view of an example robotic gripper and object.

[0057] [Figure 7B] FIG. 7B illustrates a top schematic view of an example of a robotic gripper and multiple objects.

[0058] [Figure 7C] FIG. 7C illustrates a schematic top view of an example robotic gripper and object, and a corresponding plot of pressure values.

[0059] [Figure 7D] FIG. 7D is an annotated version of the plot of pressure values ​​in FIG. 7C.

[0060] [Figure 8] FIG. 8 illustrates one example of a process for determining which individual cup assemblies in a robotic gripper to activate. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0061] Robots are typically configured to perform various tasks in the environment in which they are installed. Generally, these tasks include interacting with objects and / or elements of the environment. To accomplish such tasks, some robots include one or more arms with end effectors (e.g., grippers) that are controlled to interact with objects in the environment. For example, the gripper end effector of the robot may be controlled to pick up an object (e.g., a box) and place the picked object on a pallet for shipping or, alternatively, remove the object from the pallet for distribution as part of a logistics application. The end effector may include multiple vacuum assemblies that attach to the object by applying suction through suction cups. Typically, individual vacuum assemblies are not individually addressable. Often, control valves are too large to be associated with individual vacuum assemblies. Thus, each control valve may be associated with multiple cup assemblies, resulting in a relatively large area of ​​the end effector that can be turned on or off to tailor the performance of the gripper for a given application.

[0062] The inventors have recognized and understood that individually addressable vacuum assemblies can improve control and generally enhance the gripping capabilities of a robotic end effector. Instead of controlling all vacuum assemblies of a robotic gripper at once, or even controlling separate zones of the vacuum assembly, the ability to individually define the performance of each vacuum assembly can enable improved gripping capabilities. Additionally, the inventors have recognized and understood the advantages of being able to determine the quality of the grip that a robotic gripper exerts on a gripped object. Information regarding the quality of the gripping can inform characteristics of the path planning for the robotic gripper, such as the pose and / or acceleration of the end effector. For example, if the quality of the grip between the robotic gripper and the object is determined to be high, the gripper may be able to accelerate more rapidly and perform more dynamic maneuvers compared to scenarios where the quality of the gripping is determined to be low.

[0063] (Exemplary Robot System) FIG. 1A depicts an example of a robot 100 therein generally including a body 110, at least one leg 120 (e.g., shown as two legs 120, 120a-b), a drive wheel 130 coupled to each leg 120, and an arm 150 with an end effector 160. Although shown with wheels, it should be understood that a robot with a stationary base (e.g., without wheels) may also be used. The robot 100 is in an environment 10 including multiple boxes 20, 20a-n stacked on a pallet 30. Here, the robot 100 is moving a box 20a from the pallet 30 using the end effector 160. The end effector 160 may be, for example, a gripper, which may include a force sensor, a torque sensor, or a force / torque sensor configured to measure the force and / or torque exerted on the robot by a load (e.g., box 20a) being moved by the gripper. In some embodiments, the end effector 160 may be a vacuum-based gripper.

[0064] FIG. 1B is an example of a robot 100 operating in an environment 10 including at least one box 20. Here, the environment 10 includes a plurality of boxes 20, 20a-n stacked on a pallet 30 placed on a ground surface 12. The robot 100 may move (e.g., run) around the ground surface 12 and detect and / or manipulate the boxes 20 in the environment 10. For example, the pallet 30 may correspond to a delivery truck that the robot 100 loads or unloads. Here, the robot 100 may be a logistics robot associated with the dispatch and / or receiving phase of logistics. As a logistics robot, the robot 100 may load or detect boxes 20 on a pallet for order fulfillment or inventory management of logistics. For example, the robot 100 may detect the boxes 20, handle the boxes 20 for inbound or outbound, and move the boxes 20 around the environment 10.

[0065] The robot 100 has a vertical gravity axis Vg along the direction of gravity and a center of gravity (COM) which is the point at which the robot 100 has a zero-sum distribution of mass. g The robot 100 further has a pose P based on the COM with respect to the object, which defines a particular posture or stance assumed by the robot 100. The posture of the robot 100 can be defined by the orientation or angular position of an object in space.

[0066] The robot 100 generally includes a body 110 and one or more legs 120. The body 110 of the robot 100 may be a unitary structure or a more complex design depending on the task to be performed in the environment 10. The body 110 may enable the robot 100 to balance, sense about the environment 10, power the robot 100, assist with tasks within the environment 10, or support other components of the robot 100. In some examples, the robot 100 includes a two-piece body 110. For example, the robot 100 includes an inverted pendulum body (IPB) 110, 110a (i.e., referred to as the torso 110a of the robot 100) and a counterbalance body (CBB) 110, 110b (i.e., referred to as the tail 110b of the robot 100) disposed on the IPB 110a.

[0067] The body 110 (e.g., IPB 110a or CBB 110b) has a first end 112 and a second end 114. For example, IPB 110a has a first end 112a and a second end 114a, while CBB 110b has a first end 112b and a second end 114b. In some implementations, CBB 110b is disposed on the second end 114a of IPB 110a and configured to move relative to IPB 110a. In some examples, CBB 110b includes a battery that serves to power the robot 100. Back Joint J B may rotatably couple the CBB 110b to the second end 114a of the IPB 110a, allowing the CBB 110b to rotate relative to the IPB 110a. Bcan be referred to as a pitch joint. In the example shown, the back joint J B supports the CBB 110b, and the CBB 110b is connected to the gravity vertical axis V of the robot 100. g and a lateral axis (y-axis) that extends perpendicular to the fore-aft axis (x-axis). The fore-aft axis (x-axis) may indicate the current direction of travel by the robot 100. Movement by the CBB 110b relative to the IPB 110a is controlled by the vertical gravity axis V g The posture P of the robot 100 is modified by moving the COM of the robot 100 relative to the rotation actuator or back joint actuator A, A B A counterbalance actuator (e.g., tail actuator or counterbalance body actuator) is connected to the dorsal joint J to control the movement of the CBB 110b (e.g., tail) about the lateral axis (y-axis). B The rotary actuator A may be located at or near the B may include electric motors, electrohydraulic servos, piezoelectric actuators, solenoid actuators, pneumatic actuators, or other actuator technology suitable for precisely effecting movement of the CBB 110b relative to the IPB 110a.

[0068] The rotational movement of the CBB 110b relative to the IPB 110a alters the pose P of the robot 100 to balance and maintain the robot 100 in an upright position. For example, the rotation of the CBB 110b relative to the IPB 110a alters the pose P of the robot 100 relative to the gravity vertical axis V, similar to the rotation of the flywheel in a conventional inverted pendulum flywheel. g Rotation by the CBB 110b relative to the back joint J to change the posture P of the robot 100. B By moving the CBB 110b relative to the IPB 110a and modifying the pose P of the robot 100, the COM of the robot 100 generates / imposes a moment on the gravity vertical axis V in a scenario when the robot 100 is moving and / or transporting a load. g, to balance and maintain the robot 100 in an upright position. However, in contrast to the flywheel portion in a conventional inverted pendulum flywheel that has a mass centered on the moment point, the CBB 110b is attached to the back joint J B and in some configurations, the back joint J B may be used in place of the CBB 110b to rotate, providing a moment (rotational force) to balance and maintain the robot 100 in an upright position.

[0069] CBB110b is a back joint J B The CBB 110b may rotate (e.g., pitch) about the IPB 110a in both clockwise and counterclockwise directions (e.g., "pitch" about the y-axis), causing an oscillating (e.g., rocking) movement. Movement by the CBB 110b relative to the IPB 110a between positions shifts the COM of the robot 100 (e.g., lower toward the ground surface 12, or higher away from the ground surface 12). The CBB 110b may oscillate between movements, causing a rocking movement. The rotational speed of the CBB 110b when moving relative to the IPB 110a may be constant or may vary (accelerate or decelerate) depending on how quickly the pose P of the robot 100 needs to be altered to dynamically keep the robot 100 balanced.

[0070] The legs 120 are locomotion-based structures (e.g., legs and / or wheels) configured to move the robot 100 around the environment 10. The robot 100 may have any number of legs 120 (e.g., a tetrapod with four legs, a bipod with two legs, a hexapod with six legs, an arachnid-like robot with eight legs, an arachnid-like robot with no legs for a robot with a stationary base, etc.). Here, for simplicity, the robot 100 is generally shown and described with two legs 120, 120a-b.

[0071] As a robot 100 with two legs, the robot includes a first leg 120, 120a and a second leg 120, 120b. In some examples, each leg 120 includes a first end 122 and a second end 124. The second end 124 corresponds to an end of the leg 120 that contacts or is adjacent to a member of the robot 100 that contacts a surface (e.g., the ground surface) so that the robot 100 can traverse the environment 10. For example, the second end 124 corresponds to a foot of the robot 100 that moves according to a gait pattern. In some implementations, the robot 100 moves according to a rolling motion, and the robot 100 includes a drive wheel 130. The drive wheel 130 can be in addition to or instead of a foot-like member of the robot 100. For example, the robot 100 can move according to a walking motion and / or a rolling motion. 1B illustrates a first end 122 coupled to a body 110 with a second end 124 coupled to a drive wheel 130 (e.g., at IPB 110a). By coupling the drive wheel 130 to the second end 124 of the leg 120, the drive wheel 130 can rotate about an axis of the coupling to move the robot 100 around the environment 10.

[0072] Waist joints J on both sides of the body 110 H (For example, the sagittal plane P S The first waist joint J is symmetrical with respect to H , J Ha and the second waist joint J H , J Hb and ) may rotatably couple a first end 122 of the leg 120 to a second end 114 of the body 110 and allow at least a portion of the leg 120 to move / pitch about a lateral axis (y-axis) relative to the body 110. For example, the first end 122 of the leg 120 (e.g., the first leg 120a or the second leg 120b) may be pivotally coupled to a waist joint J. H to the second end 114a of the IPB 110a at , allowing at least a portion of the leg 120 to move / pitch about a lateral axis (y-axis) relative to the IPB 110a.

[0073] Leg actuators A, A L Each waist joint J H (For example, the first leg actuator A L , A La and the second leg actuator A L , A Lb ) can be associated with the waist joint J H Leg actuator A associated with L may move / pitch an upper portion 126 of a leg 120 (e.g., first leg 120a or second leg 120b) about a lateral axis (y-axis) relative to the body 110 (e.g., IPB 110a). In some configurations, each leg 120 includes a corresponding upper portion 126 and a corresponding lower portion 128. The upper portion 126 is connected to a waist joint J at the first end 122. H From the corresponding knee joint J K and the lower portion 128 may extend to the knee joint J. K to the second end 124. K Knee actuators A, A associated with K may cause the lower portion 128 of the leg 120 to move / pitch about a lateral axis (y-axis) relative to the upper portion 126 of the leg 120.

[0074] Each leg 120 includes a corresponding ankle joint J configured to rotatably couple a drive wheel 130 to a second end 124 of the leg 120. A For example, the first leg 120a may include a first ankle joint J A , J Aa and the second leg 120b includes a second ankle joint J A , J Ab Here, the ankle joint J A The ankle joint J is coupled for general rotation with the drive wheel 130 and may be associated with a wheel axis extending substantially parallel to the lateral axis (y-axis). A1 and 2. Corresponding torque actuators (drive motors) A, A2 configured to apply corresponding axial torques to rotate the drive wheels 130 about the x-axis and move the drive wheels 130 across the ground surface 12 along the fore-aft axis (x-axis). T For example, the axial torque may cause the drive wheels 130 to rotate in a first direction to move the robot 100 in a forward direction along the anterior-posterior axis (x-axis) and / or may cause the drive wheels 130 to rotate in an opposite second direction to move the robot 100 in a backward direction along the anterior-posterior axis (x-axis).

[0075] In some implementations, the legs 120 are prismatically coupled to the body 110 (e.g., IPB 110a), such that the length of each leg 120 is equal to or greater than the length of the waist joint J. H , Waist joint J H and knee joint J K A pair of pulleys (not shown) are shown adjacent to the pulleys, and a corresponding actuator (e.g., leg actuator A) is shown adjacent to a timing belt (not shown) that synchronizes the rotation of the pulleys. L Each leg actuator A L 1C ) actuates the actuators associated with each leg 120 to rotate the corresponding lower portion 128 relative to the corresponding knee joint J relative to the upper portion 126. K 10a) in one of a clockwise or counterclockwise direction, the corresponding upper portion 126 may be rotated in the other of a clockwise or counterclockwise direction relative to the body 110 (e.g., IPB 110a) to prismatically expand / expand the length of the leg 120. Optionally, instead of a two-link leg, at least one leg 120 may include a prismatically expand / linearly retract single link, whereby the second end 124 of the leg 120 moves prismatically away from / towards the body 110 (e.g., IPB 110a) along a linear rail. In other configurations, the knee joint J KInstead of a pair of synchronous pulleys, a knee actuator A is used to rotate the lower section 128 relative to the upper section 126. K A corresponding rotary actuator may be employed as

[0076] The corresponding axial torques applied to each of the drive wheels 130 (e.g., the first drive wheel 130, 130a associated with the first leg 120a and the second drive wheel 130, 130b associated with the second leg 120b) may be varied to steer the robot 100 across the ground surface 12. For example, an axial torque applied to the first drive wheel 130a that is greater than a wheel torque τ applied to the second drive wheel 130b (i.e., wheel torque τ) may cause the robot 100 to turn left, while applying more wheel torque τ to the second drive wheel 130b than the first drive wheel 130 may cause the robot 100 to turn right. Similarly, applying wheel torques τ of substantially the same magnitude to each of the drive wheels 130 may cause the robot 100 to move in either a forward or reverse direction in a substantially straight line across the ground surface 12. The axial torques T applied to each of the drive wheels 130 A The magnitude of also controls the speed of the robot 100 along the fore-aft axis (x-axis). Optionally, the drive wheels 130 may rotate in opposite directions, allowing the robot 100 to change orientation by turning on the ground surface 12. Thus, each wheel torque τ may be applied to a corresponding drive wheel 130 independently of the axle torques applied to the other drive wheels 130 (if any).

[0077] In some examples, the body 110 (e.g., in the CBB 110b) also includes at least one non-driven wheel (not shown). The non-driven wheel is generally passive (e.g., a passive caster wheel) that does not contact the ground surface 12 unless the body 110 (e.g., the CBB 110b) moves to a position P where the body 110 is supported by the ground surface 12.

[0078] In some implementations, the robot 100 further includes one or more accessories, such as an articulating arm 150 (also referred to as an arm or manipulator arm) disposed on the body 110 (e.g., IPB 110a) and configured to move relative to the body 110. The articulating arm 150 may have one or more degrees of freedom (e.g., ranging from relatively fixed to capable of performing multiple tasks within the environment 10). Here, the articulating arm 150 illustrated in FIG. 1B has five degrees of freedom. Although FIG. 1B shows the articulating arm 150 disposed on the first end 112 of the body 110 (e.g., at the IPB 110a), the articulating arm 150 may be disposed on any portion of the body 110 in other configurations. For example, the articulating arm 150 is disposed on the CBB 110b or on the second end 114a of the IPB 110a.

[0079] The articulation arms 150 extend between a proximal first end 152 and a distal second end 154. The arms 150 are connected to each arm joint J. A has one or more arm joints J between a first end 152 and a second end 154 configured to enable the arm 150 to articulate within the environment 10. A These arm joints J A may either couple an arm member 156 of arm 150 to body 110 or couple two or more arm members 156 together. For example, first end 152 may be coupled to a first articulating arm joint J (e.g., similar to a shoulder joint). A , J A1 In some configurations, the first articulation arm joint J A , J A1 is the waist joint J H (e.g., at the center of the body 110, between the sagittal plane P S In some examples, the first articulation arm joint J A , J A1rotatably couples a proximal first end 152 of the arm 150 to the body 110 (e.g., IPB 110a) and allows the arm 150 to rotate relative to the body 110 (e.g., IPB 110a). For example, the arm 150 can move / pitch about a lateral axis (y-axis) relative to the body 110.

[0080] In some implementations, such as FIG. 1B , the arm 150 includes a second arm joint J (e.g., similar to an elbow joint). A , J A2 and a third arm joint J (similar to a wrist joint, for example). A , J A3 and the second arm joint J A , J A2 1B depicts an arm 150 with two arm members 156a-b such that the end of the second arm member 156b coincides with the second end 154 of the arm 150, although the arm 150 may have any number of arm members 156. Here, at the second end 154 of the arm 150, the arm 150 includes an end effector 160 configured to perform a task within the environment 10. The end effector 160 is connected to an arm joint J. A (For example, the third arm joint J A , J A3 ) on the second end 154 of the arm 150, allowing the end effector 160 to have multiple degrees of freedom during operation. The end effector 160 includes one or more end effector actuators A, A for grasping / gripping an object. EE For example, the end effector 160 may include an end effector actuator A EE The end effector 160 may include one or more suction cups as a gripping mechanism to grasp or grip an object by providing a vacuum seal between the end effector 160 and the target object.

[0081] The articulating arm 150 may move / pitch about a lateral axis (y-axis) relative to the body 110 (e.g., IPB 110a). For example, the articulating arm 150 may perform a turn maneuver while rotating about a lateral axis (y-axis) relative to the body 110 in the direction of gravity to lower the COM of the robot 100. The CBB 110b may also simultaneously rotate about a lateral axis (y-axis) relative to the IPB 110 in the direction of gravity to assist in lowering the COM of the robot 100. Here, the articulating arm 150 and CBB 110b may counteract any shift of the COM of the robot 100 in the forward or backward direction along the front-to-back axis (x-axis), while still shifting the COM of the robot 100 downward closer to the ground surface 12.

[0082] 1C, the robot 100 includes a control system 140 configured to monitor and control the operation of the robot 100. In some implementations, the robot 100 is configured to operate autonomously and / or semi-autonomously. However, a user may also operate the robot by providing commands / instructions to the robot 100. In the example shown, the control system 140 includes a controller 142 (e.g., data processing hardware) and memory hardware 144. The controller 142 may include its own memory hardware or utilize the memory hardware 144 of the control system 140. In some examples, the control system 140 (e.g., with the controller 142) controls actuator A (e.g., back actuator A). B , Leg actuator A L , Knee actuator A K , Drive belt actuator, Rotary actuator, End effector actuator A EEetc.) to enable the robot 100 to move around the environment 10. The control system 140 is not limited to the components shown and may include additional components (e.g., power sources) or fewer components without departing from the scope of the present disclosure. The components may communicate by wireless or wired connections and may be distributed across multiple locations on the robot 100. In some configurations, the control system 140 interfaces with remote computing devices and / or users. For example, the control system 140 may include various components for communicating with the robot 100, such as joysticks, buttons, transmitters / receivers, wired communication ports, and / or wireless communication ports, to receive input from and provide feedback to the remote computing devices and / or users.

[0083] The controller 142 corresponds to data processing hardware that may include one or more general purpose processors, digital signal processors, and / or application specific integrated circuits (ASICs). In some implementations, the controller 142 is a purpose-built device configured to perform specific operations with one or more subsystems of the robot 100. Additionally or alternatively, the controller 142 includes software applications that are programmed to use the data processing hardware of the controller 142 to perform system-related functions for the robot 100. The memory hardware 144 communicates with the controller 142 and may include one or more non-transitory computer-readable storage media, such as volatile and / or non-volatile storage components. For example, the memory hardware 144 may be associated with one or more physical devices that communicate with each other and may include optical, magnetic, organic, or other types of memory or storage devices. The memory hardware 144 is configured, among other things, to store instructions (e.g., computer-readable program instructions) that, when executed by the controller 142, cause the controller 142 to perform a number of operations, such as, but not limited to, altering the pose P of the robot 100 to maintain balance, maneuvering the robot 100, detecting objects, transporting objects, and / or performing other tasks within the environment 10. In some implementations, the controller 142 performs operations based on direct or indirect interactions with the sensor system 170.

[0084] The sensor system 170 includes one or more sensors 172, 172a-n. The sensors 172 may include vision / image sensors, inertial sensors (e.g., inertial measurement units (IMUs)), and / or kinematic sensors. Some examples of the one or more sensors 172 include cameras, such as monocular or stereo cameras, time-of-flight (TOF) depth sensors, scanning light detection and ranging (LIDAR) sensors, or scanning laser detection and ranging (LADAR) sensors. More generally, the sensors 172 may be force sensors, torque sensors, velocity sensors, acceleration sensors, position sensors (linear and / or rotational position sensors), motion sensors, location sensors, load sensors, temperature sensors, (e.g., end effector actuators A, B, C, D, D, E, F, F, G, H, I, I, M, I, N, O, P, O, R ... EE The sensors 172 may include one or more of a pressure sensor (for monitoring the movement of the robot), a tactile sensor, a depth sensor, an ultrasonic distance sensor, an infrared sensor, and / or an object sensor. In some examples, the sensors 172 have a corresponding field of view that defines a sensing range or area corresponding to the sensor 172. Each sensor 172 may be swivelable and / or rotatable such that the sensor 172 may change its field of view, for example, about one or more axes (e.g., an x-axis, a y-axis, or a z-axis relative to the ground surface 12). In some implementations, the body 110 of the robot 100 includes a sensor system 170 with multiple sensors 172 about the body to collect sensor data 174 in all directions around the robot 100. Additionally or alternatively, the sensors 172 of the sensor system 170 may be mounted on the arm 150 of the robot 100 (e.g., in conjunction with one or more sensors 172 mounted on the body 110). The robot 100 may include any number of sensors 172 as part of a sensor system 170 to generate sensor data 174 about the environment 10 around the robot 100. For example, as the robot 100 maneuvers around the environment 10, the sensor system 170 collects pose data about the robot 100, including inertial measurement data (e.g., measured by an IMU). In some examples, the pose data includes kinematic and / or orientation data about the robot 100.

[0085] When surveying the field of view with the sensor 172, the sensor system 170 generates sensor data 174 (also referred to as image data 174) corresponding to the field of view. The sensor data 174, such as image data, attitude data, inertial data, kinematic data, etc., related to the environment 10 collected by the sensor system 170, may be communicated to the control system 140 (e.g., the controller 142 and / or the memory hardware 144) of the robot 100. In some examples, the sensor system 170 collects and stores the sensor data 174 (e.g., in the memory hardware 144 or memory hardware associated with a remote resource in communication with the robot 100). In other examples, the sensor system 170 collects the sensor data 174 in real time and processes the sensor data 174 without storing the raw (i.e., unprocessed) sensor data 174. In still other examples, the controller system 140 and / or the remote resource store both the processed sensor data 174 and the raw sensor data 174. The sensor data 174 from the sensors 172 may enable systems of the robot 100 to detect and / or analyze conditions related to the robot 100. For example, the sensor data 174 may enable the control system 140 to steer the robot 100, alter a pose P of the robot 100, and / or actuate various actuators A to move / rotate mechanical components of the robot 100 (about joints J of the robot 100).

[0086] (Example Gripper) In some embodiments, the end effector 160 is actuated by an end effector actuator A EE In other embodiments, end effector 160 may be a mechanical gripper, a jamming-based gripper, or any other suitable end effector, as the disclosure is not limited in this respect.

[0087] FIG 2A illustrates a perspective view of an example of a robotic gripper 200. FIG 2B illustrates a side view, and FIG 2C illustrates a bottom view. As shown, the robotic gripper 200 is a vacuum-based gripper that includes multiple vacuum assemblies 300 arranged in an array and / or coupled to a manifold. In some embodiments, the vacuum assemblies 300 of the robotic gripper 200 may be arranged in a rectilinear grid pattern, such as that shown in FIG 2A. However, it should be understood that any suitable arrangement of vacuum assemblies may be used as the disclosure is not limited in this respect.

[0088] In some embodiments, the vacuum assemblies 300 of the robotic gripper 200 may be uniform (e.g., having the same cross-sectional area, shape, and / or material). In other embodiments, the robotic gripper may include a variety of different vacuum assemblies 300 (e.g., having different cross-sectional areas, shapes, and / or materials). For example, FIG. 2D illustrates a bottom view of another example of a robotic gripper including vacuum assemblies having different cross-sectional areas. The vacuum assemblies may be differentiated based on the characteristics of the suction cups in some embodiments. For example, different vacuum assemblies may employ suction cups of different sizes or different materials.

[0089] The robotic gripper 200 may include a manifold that couples the vacuum assemblies 300. In some embodiments, the manifold may include a vacuum connection 202 and a high pressure air connection 204. The vacuum connection may be configured to connect to a vacuum pump or any other suitable vacuum source. Similarly, the high pressure air connection may be configured to connect to a high pressure air source, such as an air compressor. The manifold may be configured to distribute vacuum and high pressure air from their respective sources to each of the vacuum assemblies 300. In some embodiments, some vacuum assemblies may have a first type of suction cup while other vacuum assemblies may have a second type of suction cup. For example, the suction cups may be differentiated based on size, shape, material, or any other suitable characteristic. Some robotic grippers may include a vacuum assembly without any suction cups to accommodate a larger suction cup on a neighboring vacuum assembly. In some embodiments of the robotic gripper, different suction cups may be used in different spatial areas of the gripper, allowing areas that may be specialized for specific tasks, such as gripping specific materials. In some embodiments, different types of suction cups may be distributed throughout the robotic gripper, it being understood that different types of suction cups or any other components of a vacuum assembly may be arranged in any configuration within the robotic gripper as the disclosure is not limited in this respect.

[0090] In some embodiments, such as in embodiments where the vacuum assembly is individually addressable, the controller may be configured to control operation of the vacuum assembly in one or more zones based on any relevant parameters. In some embodiments, the zones of the vacuum assembly may be activated based on location relative to the robotic gripper. For example, the robotic gripper may have four individually addressable zones corresponding to the four quadrants of the linear array. In some embodiments, the zones of the vacuum assembly may be activated based on the type of suction cup. For example, the robotic gripper may have two individually addressable zones, each corresponding to a suction cup of a particular size and / or material. The two types of suction cups may be distributed evenly throughout the robotic gripper, may be limited to designated areas, or may be arranged in any other suitable configuration. The zones may be activated in any desired order. The zones may be activated sequentially or simultaneously.

[0091] FIG. 3 illustrates one example of an individually controllable vacuum assembly 300. FIG. 4 illustrates a portion of the vacuum assembly 300 of FIG. 3 in greater detail. The vacuum assembly 300 may include a vacuum valve 302 configured to couple to a cup assembly 304. The cup assembly 304 may include a suction cup 305. In some embodiments, the vacuum valve 302 may be coupled to the cup assembly 304 through a suction cup adapter 310. In some embodiments, the vacuum valve may be a poppet valve. For example, the vacuum valve may be a pilot operated two-stage poppet valve. However, other types of vacuum valves are contemplated and the disclosure is not limited in this respect. For example, in some embodiments, the vacuum valve may be a direct actuated valve.

[0092] In some embodiments, a control valve 308 may be coupled to the vacuum valve 302 and configured to activate the vacuum valve. Activating the control valve 308 may open the connection between the cup assembly 304 and the vacuum source 312 through the vacuum valve 302, allowing the suction cup 305 to apply suction and attach to the surface. The vacuum source 312 may be coupled to both the vacuum valve 302 and the control valve 308. In some embodiments, the control valve 308 may be a solenoid valve. For example, the control valve 308 may, in one configuration, be a three-way solenoid valve that connects the high pressure air input 314 to an output of a valve that is coupled to a pilot 316 of the vacuum valve 302. Applying high pressure to the vacuum valve pilot 316 may displace the plunger 318 and establish a connection between the vacuum source 312 and the cup assembly 304. When high pressure is removed from the vacuum valve pilot 316, a return spring 320 may return the plunger 318 to its previous position, closing the connection between the vacuum source 312 and the cup assembly 304. Other types of control valves are contemplated and the disclosure is not limited in this respect. However, it should be understood that in some embodiments, the vacuum valve may not be coupled to a control valve. For example, a direct actuated vacuum valve may be used in place of a piloted vacuum valve.

[0093] In some embodiments, the vacuum assembly 300 may include a pressure sensor 306 that may be configured to sense a pressure level within the cup assembly 304. The pressure sensor 306 may be used in a feedback control method to selectively open or close a vacuum valve based at least in part on the sensed pressure within the cup assembly 304. In some embodiments, one or more of the vacuum assemblies 300 may not include a pressure sensor. In such embodiments, the control valve may be configured to be activated based on different inputs. For example, the control valve may be activated based on a timing schedule. However, other suitable inputs for activating the control valve are also contemplated, and the disclosure is not limited in this respect.

[0094] In some embodiments, individual control of each of a plurality of vacuum assemblies in the robotic gripper may be provided. The method may include sensing a pressure level in a cup assembly coupled to a vacuum valve of the vacuum assembly and controlling a control valve coupled to the vacuum valve to actuate the vacuum valve based at least in part on the sensed pressure level.

[0095] The inventors recognize and understand that the strength of the grip between a vacuum-based gripper and an object can be improved if a cup assembly having a good seal between the suction cup and the object is provided with a larger vacuum, and a cup assembly having a poor seal between the suction cup and the object is provided with a smaller vacuum (or not provided at all).

[0096] 5 illustrates a process 500 for adjusting the amount of vacuum supplied to individual cup assemblies based at least in part on pressure measurements within the cup assemblies. In some embodiments, feedback provided by continuous or periodic pressure measurements is used to adjust the amount of vacuum supplied to individually addressable cup assemblies to improve or optimize gripping of an object.

[0097] Process 500 begins at act 510, where a pressure level is determined for at least some of a plurality of cup assemblies in a robotic gripper at a first time. In some embodiments, the pressure level in the cup assembly is measured using a corresponding pressure sensor associated with the cup assembly. In other embodiments, a single pressure sensor may be shared among multiple cup assemblies.

[0098] Process 500 then proceeds to act 512, where the amount of vacuum supplied to one or more of the cup assemblies is adjusted based at least in part on the determined pressure level. For example, if the determined pressure level is below a threshold and / or outside a particular pressure range, it may be determined that the seal between the cup assembly and the object is insufficient and the amount of vacuum supplied to that cup assembly should be reduced. In some embodiments, determining whether to supply vacuum to a particular cup assembly may be a binary decision in that vacuum is either supplied or not supplied, for example, by closing a valve for the cup assembly. In other embodiments, the vacuum supplied to a particular cup assembly can be reduced without completely turning off the vacuum to the particular cup assembly. It should be understood that the amount of vacuum supplied to a particular cup assembly may be adjusted discretely or continuously as the disclosure is not limited in this respect.

[0099] Process 500 then proceeds to act 514, where the pressure level for at least some of the cup assemblies is determined at a second time after the first time. Process 500 then proceeds to act 516, where it is determined whether to continue monitoring the pressure in the cup assemblies. If it is determined at act 516 to continue monitoring the pressure, process 500 returns to act 512, where the amount of vacuum delivered to one or more of the cup assemblies is adjusted based, at least in part, on the pressure level determined at the second time in act 514. If it is determined at act 516 that the pressure should no longer be monitored, process 500 ends.

[0100] In this manner, the pressure within each cup assembly of the robotic gripper can be determined when the robotic gripper first contacts an object, and the corresponding vacuum supplied to one or more of the cup assemblies can be adjusted based on the sensed pressure to improve the grip between the robotic gripper and the object. In addition, the pressure can be continuously and / or periodically monitored when the gripper is in contact with the object, and adjustments to the supplied vacuum can be made to maintain an improved grip on the object (e.g., as the robot in which the gripper is being used moves the object from one location to another).

[0101] In some embodiments, a method of adjusting a vacuum in a robotic gripper coupled to an object to be gripped may include first determining a pressure level for at least some of the cup assemblies. After the pressure level is determined, an amount of vacuum supplied to the cup assemblies may be adjusted based, at least in part, on the determined pressure level. After the amount of vacuum is adjusted, the pressure for at least some of the cup assemblies may again be determined. In this manner, the method may be repeated in a cyclical manner. That is, the amount of vacuum supplied to the cup assemblies may be controlled based on feedback from pressure readings of the cup assemblies.

[0102] In some embodiments, the amount of vacuum supplied to a cup assembly may be regulated by modulating (e.g., opening or closing) a valve associated with the cup assembly. The vacuum supplied to a cup assembly may be controlled in a discrete manner in which a given cup assembly is either "on" or "off," or in a continuous manner in which the vacuum supplied to a given cup assembly may be smoothly varied between a predetermined minimum and a predetermined maximum value.

[0103] Any suitable stimulus or input may be used to trigger the controller to adjust the amount of vacuum supplied to the cup assembly. In some embodiments, the amount of vacuum may be adjusted based on pressure sensed within the cup assembly. If the pressure within the cup assembly is determined to be outside of a specified range, the amount of vacuum supplied to that cup assembly may be adjusted. For example, the pressure of each cup assembly in an array of cup assemblies in a robotic gripper may be monitored to determine when a particular cup assembly is losing (or failing to establish) sufficient suction to the object being gripped. Any cup assembly determined to be insufficiently sealed (or not sealed) over the object may be shut off, thereby increasing the suction force from other cup assemblies in the array to improve grip on the object. The amount of vacuum supplied to the cup assembly may be adjusted in any suitable manner, such as by opening or closing an associated valve. The vacuum supplied to the cup assembly may be adjusted if the pressure level for a particular cup assembly is determined to be either above or below a particular threshold.

[0104] FIG. 6 illustrates a process 600 for determining a quality of grip between a vacuum-based gripper and an object, according to some embodiments. In act 610, a vacuum is applied to two or more cup assemblies of a plurality of cup assemblies of a robotic gripper. Process 600 then proceeds to act 612, where the object is moved by the robotic gripper after the vacuum has been applied to the two or more cup assemblies. It should be understood that a vacuum-based gripper may be configured to attach to any surface of an object and move the object. For example, a vacuum-based gripper may be configured to attach to a top surface of an object or a side surface of an object and move the object. The surface of an object that the gripper may be configured to attach to may be determined based at least in part on the location and / or orientation of the object, the movement constraints of the robot to which the gripper is attached, and / or environmental information in which the object is placed. For example, an object on top of a stack of objects may be gripped at a side for removal from the stack, while an object lower in the stack may be gripped at a top surface. In some embodiments, moving the object may include lifting the object. In some embodiments, the amount and / or configuration of vacuum applied to the cup assembly of the robotic gripper may depend, at least in part, on the surface of the object to which the gripper is attached. Process 600 then proceeds to act 614, where a quality of grip between the robotic gripper and the object being moved is determined. In some embodiments, the quality of grip is determined, at least in part, based on measurements from at least one pressure sensor associated with each of the two or more cup assemblies to which the vacuum is applied. Process 600 then proceeds to act 616, where a total wrench to the gripper, as applied by the gripped object while being moved, is determined. As used herein, the term "wrench" should be understood to refer to a generalized force that includes a combination of one or more forces or torques. It should be understood that a wrench may include only force, only torque, or a combination of force and torque. For example, "determine a total wrench to the gripper" may be understood as "determine a total force and / or torque to the gripper."For example, the total wrench may be determined using at least one force sensor, torque sensor, or force / torque sensor coupled to the gripper. In some embodiments, some parameters related to the total wrench to the gripper may already be known and thus may not be required to be sensed. For example, certain characteristics of the object to be gripped (mass, inertia, etc.) may be known before the object is gripped and therefore may not need to be measured. Process 600 then proceeds to act 618 where an acceleration of the robotic gripper is selected based at least in part on the grip quality and / or the total wrench. If desired, process 600 may return to act 614 where the grip quality and total wrench are determined, providing a continuous feedback loop that allows the robotic gripper to operate at an acceleration corresponding to a desired safety factor.

[0105] The inventors recognize and understand that increasing the acceleration of a robotic gripper and / or the robot to which the robotic gripper is attached may be advantageous when the quality of the grip on the object is good and / or when the estimated total wrench is small. For example, when the object is light and the grip is good, the robotic gripper can be operated at a higher speed. In contrast, when the object is poorly gripped by the gripper and / or when the object is heavy, it may be advantageous to operate the robotic gripper at a lower speed to prevent the object from falling and / or to improve safety.

[0106] In one embodiment, a method for determining a quality of a grip between a robotic gripper and an object may include first applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object. After the vacuum is applied and the grip is secured, the object may be moved with the robotic gripper. Then, using at least one pressure sensor associated with each of the two or more cup assemblies, a quality of the grip between the robotic gripper and the object may be determined. The quality of the grip may be used to select an acceleration for the robotic gripper.

[0107] In some embodiments, the total wrench exerted by the object on the robotic gripper may be measured while the gripper is moving the object. For example, a force sensor, torque sensor, or force / torque sensor disposed between the end effector and the remainder of the robotic arm may be used to determine the total wrench. Of course, other methods of measuring force and / or torque may also be suitable, and the disclosure is not limited in this respect. In some circumstances, the total wrench exerted on the robotic gripper may be used to determine the weight of the object. For example, the weight of the object may be determined if the robotic gripper moves the object at a constant acceleration. Information regarding the total wrench acting on the robotic gripper and / or the weight of the object may be used to select an acceleration for the robotic gripper.

[0108] In some embodiments, information regarding the weight of the object and / or the total wrench acting on the robotic gripper may be used in conjunction with the determined grip quality to select an acceleration for the robotic gripper. A comparison of the determined grip quality to the measured total wrench may help determine a ratio of the determined grip quality to the measured total wrench. The acceleration for the robotic gripper may be adjusted based on the ratio of the determined grip quality to the measured total wrench. In some embodiments, the acceleration may be increased when the ratio of the determined grip quality to the measured total wrench is above a certain threshold. For example, if the ratio is determined to be above 3, the gripper may be able to accelerate the object up to an acceleration of 3G (G is the acceleration due to gravity) before the grip is lost. In some embodiments, the acceleration may be decreased when the ratio of the determined grip quality to the measured total wrench falls below a certain threshold. For example, if the suction cup loses suction as the robotic arm moves through the trajectory, the grip quality may be reduced and the acceleration may be decreased. In some embodiments, the acceleration may be continually varied based on the quality of the grip.

[0109] If the ratio of the determined grip quality to the measured total wrench is determined to be too low for a desired trajectory and / or acceleration, the ratio can be increased by improving the grip quality. For example, the grip quality can be improved in a vacuum-based gripper by increasing the suction force of the cup assemblies or by engaging more cup assemblies. Without wishing to be bound by theory, the grip quality of a vacuum-based gripper can be based at least in part on the pressure differential of each cup assembly engaged with the object to be gripped and the total contact area of ​​all the cup assemblies.

[0110] In some embodiments, the calculations and / or processing may be performed on-board the robot gripper or robot arm. For example, the acts described above for determining the total wrench acting on the robot gripper may be performed by one or more processors located on the robot gripper. In embodiments where there are multiple sensors, such as force sensors to measure the total wrench acting on the gripper, pressure sensors associated with each vacuum assembly, etc., on-board calculations may be used to fuse the sensor data and inform a controller that determines the trajectory and / or acceleration profile of the robot arm. Additionally, integral calculations on the robot gripper (or other end effector) may enable a more modular robot arm, which may have advantages related to ease of assembly, part replacement, and operation.

[0111] In some embodiments, the method of determining a quality of a grip between a robotic gripper and an object may further include determining that the cup assembly is within a threshold distance from the object. The method may also include applying a vacuum to the cup assembly once it is determined that the cup assembly is within the threshold distance. In some embodiments, the threshold distance may be zero, whereby the vacuum may be applied once the cup assembly contacts the object. In some embodiments, the threshold distance may be greater than zero, whereby the vacuum may be applied before the cup assembly contacts the object. The robotic gripper may include a distance sensor, such as a time-of-flight sensor, to determine the distance between the cup assembly and the object.

[0112] 7A-7D diagrammatically illustrate the relationship between the contact state of a cup assembly and the decision to activate that cup assembly, according to some embodiments. FIG. 7A is a top schematic view of one embodiment of a gripper 700 in contact with an object 730. The object 730 may be a box, such as a cardboard box, in some embodiments. In some embodiments, the object 730 may include a plastic cover, such as an array of goods (e.g., cans) in a cardboard tray that are shrink-wrapped with plastic. The object may include any number of defective or damaged areas 715 (e.g., wrinkles, creases, dents, notches, tears, etc.), or open portions 716. The gripper 700 includes multiple cup assemblies 702, which may include both inactivated cup assemblies 710 (e.g., cup assemblies with no or minimal vacuum applied) and activated cup assemblies 720 (e.g., cup assemblies with vacuum applied). In Figures 7A-7C, a deactivated cup assembly 710 is shown with cross-hatching, while an activated cup assembly 720 is shown with an empty fill. Although cup assembly 702 is shown in Figures 7A-7C as being either activated or deactivated, it should be understood that the present disclosure is not limited to cup assemblies that are either activated (e.g., on) or deactivated (e.g., off). In some embodiments, the vacuum applied to the cup assembly may be continuously adjusted between any suitable number of states, rather than discretely between only two states (e.g., on and off).

[0113] The cup assembly 710 that is deactivated may be deactivated based on one or more parameters. In some embodiments, the cup assembly may be deactivated if the pressure sensed within the cup assembly is below a certain threshold. For example, a cup assembly that is not in contact with the object 730, such as cup assembly 711 that is positioned over a free portion 716 of the object, may be deactivated. Similarly, a cup assembly that is only partially in contact with the object 730, such as cup assembly 712 that is positioned over the edge of the object, may also be deactivated. A cup assembly that is in contact with a defective or damaged area 715 of the object 730 may be deactivated even if most or all of the cup assembly is in contact with the object 730, as the defective or damaged area 715 may prevent the establishment of a good seal.

[0114] FIG. 7B diagrammatically illustrates a scenario in which gripper 700 is positioned to move multiple objects (e.g., one or more of objects 730a-730d) simultaneously. In some embodiments, a cup assembly may be deactivated even if the pressure sensed within the cup assembly is above a certain threshold and the cup assembly is capable of forming a good seal with the object. For example, cup assembly 713 in FIG. 7B may be deactivated even though the entire cup assembly 713 is in contact with (and making a good seal with) object 730d. In some embodiments, information captured by an additional sensor (e.g., a camera) may be used to determine whether individual cup assemblies should be deactivated. For example, if it is determined based on one or more images captured by a camera that only a few cup assemblies are in contact with a given object, those cup assemblies may be deactivated even if the cup assemblies are capable of achieving a good seal. Selectively deactivating the cup assemblies even when they achieve a good seal can help avoid scenarios in which an object is dropped because it is too heavy for the number of cup assemblies that come into contact with it.

[0115] In some embodiments, activation / deactivation of one or more cup assemblies may be controlled using active valving, and a processor or controller may determine whether to open a valve. In some embodiments, such as those in which activation of a cup assembly is determined by pressure within the cup assembly, the cup assembly may include passive valving, and the state of the valve may be determined based on a pressure differential, and a processor or controller may not be required. It should be understood that some grippers may include cup assemblies with active and / or passive valving, as the disclosure is not limited in this respect.

[0116] As depicted in FIG. 7B, a single gripper 700 may be configured to simultaneously engage (e.g., grip) multiple objects 730a-730d. The objects 730a-730d may be of different shapes, sizes, and orientations as the disclosure is not limited in this respect. The gripper 700 may selectively activate the cup assembly 702 such that only a portion of the multiple objects 730a-730d are engaged (e.g., gripped) by the gripper 700. For example, the cup assembly in contact with the first three objects 730a-730c may be activated, while the cup assembly in contact with the fourth object 730d may be deactivated (a cup assembly that is in partial contact with any object or is not in contact with any object may be deactivated). In this manner, the gripper 720 may simultaneously engage selected portions of the objects 730a-730d with which it is in contact. That is, during operation, the gripper 700 may contact multiple objects but actively grip only a selected portion of those objects.

[0117] FIG. 7C depicts a gripper 700 gripping an object 730 along with a corresponding plot of pressure within one cup assembly 702. FIG. 7D depicts the same graph of FIG. 7C but with additional annotations. As discussed above, different cup assemblies 702 may be associated with different pressure levels determined at least in part by the seal between the cup assembly and the object 730. As shown in FIG. 7C, a cup assembly 720 with a good seal may be associated with a higher pressure than a cup assembly 712 with a partial seal, which in turn may be associated with a higher pressure than a cup assembly 711 with no seal. Thus, the cup assembly 720 may be activated when the gripper grips an object, while the cup assemblies 711 and 712 may be deactivated.

[0118] With reference to FIG. 7D, the decision of whether to activate a cup assembly may be based at least in part on the response of each cup assembly to the diagnostic vacuum pulse. Performing a diagnostic pulse may include temporarily activating one or more cup assemblies, thereby providing a vacuum to the cup assemblies. The response may include data related to pressure levels over time in each cup assembly. The response of each cup assembly may be analyzed in relation to a peak pressure response, a gradient pressure response, or a combination thereof. The peak pressure response of a cup assembly may include a maximum or minimum pressure recorded by a pressure sensor associated with the cup assembly within a particular time range following the start of the pulse. For example, if the pulse lasts 15 milliseconds, a maximum or minimum sensed by a pressure sensor within 50 milliseconds following the start of the pulse may be recorded as a peak pressure response. The gradient pressure response of a cup assembly may include a rate of change of a pressure signal in the cup assembly in response to the pulse. In some embodiments, the gradient pressure response may be determined in less than 5 milliseconds.

[0119] 8 illustrates an example of a process 800 for determining which individual cup assemblies in a robotic gripper to activate, according to some embodiments. Process 800 begins with act 810, where a pulse is applied to the cup assembly. As described above, pulsing the cup assembly may include activating the cup assembly for a short period of time (e.g., 15 milliseconds) before deactivating the cup assembly again. Cup assemblies may be pulsed individually or in groups. In some embodiments, all of the cup assemblies of a robotic gripper may be pulsed simultaneously.

[0120] Process 800 then proceeds to act 820, where the pulse response of each cup assembly is determined. Determining the pulse response of each cup assembly may include detecting a rate of change (e.g., slope) of the measured pressure signal, such as act 822, and / or detecting a peak value of the pressure signal, such as act 824. In some embodiments, both the rate of change and the peak value of the pressure signal may be detected, and one or both of the rate of change and the peak value of the pressure signal may be used, at least in part, to determine whether to activate an individual cup assembly. For example, in some embodiments, it may be preferable to use the rate of change of the pressure signal, but if rate of change information is unavailable for one or more cup assemblies, the peak value of the pressure signal may be used.

[0121] Process 800 then proceeds to act 830, where the pulse response of each cup assembly is normalized. For example, the pulse response of each cup assembly may be divided by the maximum recorded pulse response such that the pulse response of each cup assembly may be associated with a normalized value ranging from 0 to 1. In examples where the pulse response is characterized in terms of the rate of change of the pressure signal of each cup assembly, normalizing the pulse response of each cup assembly may include dividing the rate of change of the pressure signal, for each cup assembly, by the maximum rate of change of the pressure signal recorded across all of the cup assemblies of the robotic gripper. In examples where the pulse response is characterized in terms of the peak pressure signal of each cup assembly, normalizing the pulse response of each cup assembly may include dividing the peak pressure signal, for each cup assembly, by the maximum peak pressure signal recorded across all of the cup assemblies of the robotic gripper.

[0122] Process 800 then proceeds to act 840, where the selected cup assembly is activated. In some embodiments, only cup assemblies with normalized values ​​(e.g., rate of change, peak value, or both rate of change and peak value) above a certain threshold may be activated, such as in act 842. For example, all cup assemblies with normalized values ​​above a certain threshold (e.g., 0.5, 0.95) may be automatically activated. In some embodiments, cup assemblies may be ranked based on their normalized values. Cup assemblies may be activated sequentially, such as in act 844, from highest to lowest normalized values ​​until the overall system level pressure falls below the threshold (at which point no additional cup assemblies are activated). In some embodiments, a combination of these approaches may be employed. For example, all cup assemblies above a first threshold (e.g., 0.95) may be automatically activated. Any cup assemblies below a second threshold (e.g., 0.30) may automatically remain inactivated. Any cup assemblies that fall below the first threshold and above the second threshold may be activated in sequence until a certain pressure drop is observed across the entire system of cup assemblies.

[0123] The computing devices and systems described and / or illustrated herein broadly represent any type or form of computing device or system capable of executing computer-readable instructions such as those contained within the modules described herein. In their most basic configurations, these computing devices may each include at least one memory device and at least one physical processor.

[0124] In some examples, the term "memory device" generally refers to any type or form of volatile or non-volatile storage device or medium capable of storing data and / or computer-readable instructions. In one example, a memory device may store, load, and / or maintain one or more of the modules described herein. Examples of memory devices include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, hard disk drive (HDD), solid-state drive (SSD), optical disk drive, cache, any variation or combination of one or more of the foregoing, or any other suitable storage memory.

[0125] In some examples, the term "physical processor" generally refers to any type or form of hardware-implemented processing unit capable of interpreting and / or executing computer-readable instructions. In one example, a physical processor may access and / or modify one or more modules stored in a memory device described above. Examples of physical processors include, but are not limited to, a microprocessor, a microcontroller, a central processing unit (CPU), a field programmable gate array (FPGA) implementing a soft-core processor, an application specific integrated circuit (ASIC), a portion of one or more of them, a variation or combination of one or more of them, or any other suitable physical processor.

[0126] Although illustrated as separate elements, the modules described and / or illustrated herein may represent portions of a single module or application. Additionally, in some embodiments, one or more of these modules may represent one or more software applications or programs that, when executed by a computing device, may cause the computing device to perform one or more tasks. For example, one or more of the illustrated modules described and / or illustrated herein may represent modules that are stored and configured to run on one or more of the computing devices or systems described and / or illustrated herein. One or more of these modules may also represent all or a portion of one or more special purpose computers configured to perform one or more tasks.

[0127] In addition, one or more of the modules described herein may transform data, physical devices, and / or representations of physical devices from one form to another. Additionally or alternatively, one or more of the modules listed herein may transform a processor, volatile memory, non-volatile memory, and / or any other portion of a physical computing device from one form to another by executing on a computing device, storing data on the computing device, and / or otherwise interacting with the computing device.

[0128] The embodiments described above can be implemented in any of a number of ways. For example, the embodiments can be implemented using hardware, software, or a combination thereof. When implemented in software, the software code can be executed on any suitable processor, or collection of processors, whether provided in a single computer or distributed among multiple computers. It should be understood that any component or collection of components performing the functions described above can be generally considered as one or more controllers that control the functions discussed above. The one or more controllers can be implemented in a number of ways, such as with dedicated hardware or one or more processors that are programmed using microcode or software to perform the functions enumerated above.

[0129] In this regard, it should be understood that the robot embodiment may include at least one non-transitory computer-readable storage medium (e.g., computer memory, portable memory, compact disk, etc.) encoded with a computer program (i.e., a plurality of instructions) that, when executed on a processor, performs one or more of the functions discussed above. Those functions may include, for example, controlling the robot and / or driving the wheels or arms of the robot. The computer-readable storage medium may be transportable such that the program stored thereon may be loaded onto any computer resource and implement the aspects of the invention discussed herein. In addition, it should be understood that the reference to a computer program that, when executed, performs the functions discussed above is not limited to an application program running on a host computer. Rather, the term "computer program" is used herein in a general sense to refer to any type of computer code (e.g., software or microcode) that may be employed to program a processor to implement the above-discussed aspects of the invention.

[0130] Various aspects of the invention may be used alone, in combination, or in various arrangements not specifically discussed in the embodiments described above, and therefore are not limited in their application to the details and arrangements of components set forth in the foregoing description or illustrated in the drawings. For example, aspects described in one embodiment may be combined in any manner with aspects described in other embodiments.

[0131]

[0023] Embodiments of the invention may also be implemented as one or more methods, examples of which are provided. Acts performed as part of a method may be ordered in any suitable manner. Thus, embodiments may be constructed in which acts are performed in an order different from that shown, which may include performing some acts simultaneously even though shown as sequential acts in the illustrative embodiments.

[0132] The use of ordinal terms such as "first," "second," "third," etc. in the claims to modify claim elements does not, by itself, indicate any priority, precedence, or ordering of one claim element prior to another, or the temporal order in which acts of a method are performed. Such terms are used merely as labels to distinguish one claim element having a certain name from another element having the same name (in the absence of the use of the ordinal term).

[0133] The phraseology and terminology used herein is for purposes of description and should not be regarded as limiting. The use of "including," "comprising," "having," "containing," "involving," and variations thereof are meant to encompass the items listed thereafter as well as additional items.

[0134] Having described several embodiments of the present invention in detail, various modifications and improvements will readily occur to those skilled in the art. Such modifications and improvements are intended to be within the spirit and scope of the present invention. Accordingly, the foregoing description is by way of example only and is not intended to be limiting.

Claims

1. 1. A method for determining a grip quality between a robotic gripper and an object, the method comprising: applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object; applying the vacuum to the two or more cup assemblies and then moving the object using the robotic gripper; determining a quality of a grip between the robotic gripper and the object using at least one pressure sensor associated with each of the two or more cup assemblies; measuring a total wrench to the robot gripper while moving the object; selecting an acceleration for the robotic gripper based at least in part on the measured total wrench and the determined grip quality. Including, The method, wherein selecting the acceleration for the robotic gripper includes selecting the acceleration for the robotic gripper based at least in part on a comparison of the determined grip quality and the measured total wrench.

2. 2. The method of claim 1, wherein selecting the acceleration for the robotic gripper comprises increasing the acceleration for the robotic gripper when a ratio of the determined grip quality to the measured total wrench is above a threshold.

3. 2. The method of claim 1, wherein selecting the acceleration for the robotic gripper comprises decreasing the acceleration for the robotic gripper when a ratio of the determined grip quality to the measured total grip falls below a threshold.

4. 2. The method of claim 1, wherein measuring a total wrench into the robotic gripper while moving the object comprises measuring a total wrench into the robotic gripper while moving the object at a constant acceleration.

5. The method of claim 1, further comprising continuously varying the acceleration of the robotic gripper based at least in part on the quality of the grip between the robotic gripper and the object.

6. 2. The method of claim 1, wherein measuring the total wrench to the robotic gripper includes measuring the total wrench using a sensor coupled to the robotic gripper, the sensor including one or more selected from the group of a force sensor, a torque sensor, and a force / torque sensor.

7. The method of claim 1 , wherein the robotic gripper further comprises at least one processor, and determining the quality of the grip between the robotic gripper and the object is performed by the at least one processor.

8. The method comprises: determining that the two or more cup assemblies are within a threshold distance from the object; applying the vacuum to the two or more cup assemblies when it is determined that the two or more cup assemblies are within the threshold distance; The method of claim 1 further comprising:

9. The method of claim 8 , wherein determining that the two or more cup assemblies are within a threshold distance from the object comprises determining that the two or more cup assemblies are in contact with the object.

10. The method of claim 8 , wherein the robotic gripper comprises a distance sensor, and determining that the two or more cup assemblies are within a threshold distance from the object is based at least in part on an output of the distance sensor.

11. The method of claim 10 , wherein the distance sensor is a time-of-flight sensor.

12. The method of claim 1 , wherein moving the object comprises lifting the object.

13. 1. A method of adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a vacuum based multiple cup assembly, the method comprising: determining a pressure level at a first time for at least some of the plurality of cup assemblies; adjusting an amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on the determined pressure level; determining the pressure level for the at least some of the plurality of cup assemblies at a second time point that is later than the first time point; Including, The method, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies includes actuating a vacuum valve by controlling a control valve coupled to a respective vacuum valve of the one or more of the plurality of cup assemblies.

14. A method for adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a vacuum-based multiple cup assembly, the method comprising: determining a pressure level at a first time for at least some of the plurality of cup assemblies; adjusting an amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on the determined pressure level; determining the pressure level for the at least some of the plurality of cup assemblies at a second time point that is later than the first time point; Including, The method, wherein determining the pressure level includes determining the pressure level using a corresponding pressure sensor associated with each of the at least some of the plurality of cup assemblies.

15. A method for adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a vacuum-based multiple cup assembly, the method comprising: determining a pressure level at a first time for at least some of the plurality of cup assemblies; adjusting an amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on the determined pressure level; determining the pressure level for the at least some of the plurality of cup assemblies at a second time point that is later than the first time point; Including, The method, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies based at least in part on the determined pressure level includes adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies based at least in part on whether the determined pressure level is below a threshold.

16. A method for adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a vacuum-based multiple cup assembly, the method comprising: determining a pressure level at a first time for at least some of the plurality of cup assemblies; adjusting an amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on the determined pressure level; determining the pressure level for the at least some of the plurality of cup assemblies at a second time point that is later than the first time point; Including, The method, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies includes closing one or more valves associated with the one or more of the plurality of cup assemblies.

17. A method for adjusting a vacuum in a robotic gripper coupled to an object to be gripped, the robotic gripper including a vacuum-based multiple cup assembly, the method comprising: determining a pressure level at a first time for at least some of the plurality of cup assemblies; adjusting an amount of vacuum delivered to one or more of the plurality of cup assemblies based at least in part on the determined pressure level; determining the pressure level for the at least some of the plurality of cup assemblies at a second time point that is later than the first time point; Including, The method, wherein adjusting the amount of vacuum supplied to the one or more of the plurality of cup assemblies includes adjusting an amount of vacuum supplied to each of the one or more of the plurality of cup assemblies.

18. 1. A method for selectively activating a plurality of cup assemblies of a robotic gripper, the method comprising: applying a pulse to the plurality of cup assemblies; determining a pulse response for each of the plurality of cup assemblies; selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response; normalizing the pulse response of each of the plurality of cup assemblies; A method comprising:

19. A method for selectively activating multiple cup assemblies of a robotic gripper, the method comprising: applying a pulse to the plurality of cup assemblies; determining a pulse response for each of the plurality of cup assemblies; selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response; Including, The method, wherein determining the pulse response of each of the plurality of cup assemblies includes detecting a rate of change of a pressure signal of each of the plurality of cup assemblies.

20. A method for selectively activating multiple cup assemblies of a robotic gripper, the method comprising: applying a pulse to the plurality of cup assemblies; determining a pulse response for each of the plurality of cup assemblies; selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response; Including, The method, wherein determining the pulse response of each of the plurality of cup assemblies includes detecting peaks in a pressure signal of each of the plurality of cup assemblies.

21. A method for selectively activating multiple cup assemblies of a robotic gripper, the method comprising: applying a pulse to the plurality of cup assemblies; determining a pulse response for each of the plurality of cup assemblies; selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response; Including, The method, wherein selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response includes selectively activating one or more of the plurality of cup assemblies based at least in part on a pulse response threshold.

22. A method for selectively activating multiple cup assemblies of a robotic gripper, the method comprising: applying a pulse to the plurality of cup assemblies; determining a pulse response for each of the plurality of cup assemblies; selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response; Including, The method, wherein selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response includes sequentially activating a plurality of cup assemblies until a target pressure drop is detected.

23. A method for selectively activating multiple cup assemblies of a robotic gripper, the method comprising: applying a pulse to the plurality of cup assemblies; determining a pulse response for each of the plurality of cup assemblies; selectively activating one or more of the plurality of cup assemblies based at least in part on the determined pulse response; Including, The method, wherein pulsing the plurality of cup assemblies includes activating the plurality of cup assemblies simultaneously for a fixed period of time.

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