Affordance-Aware Grasp Planning for Free-Form Object Manipulation
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Solution Overview
Problem
Robots face difficulties in reliably and efficiently executing tasks in dynamic environments with varying complexity and irregularly shaped objects, as existing technologies struggle to analyze and interact with such environments effectively.
Innovation Solution
An enhanced environmental analysis and robotic end effector control process that integrates a sensor array, map and semantics generator, robot modeler, mission planner, and end effector controller to enable robots to grasp free-form objects in semi-structured human-centric spaces by generating suitable grasping configurations based on sensor data and semantic understanding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robots use traditional task execution methods, then they can complete simple tasks, but they struggle with complex tasks in dynamic environments
Solution Approach 1:
The patent segments the complex task execution process into multiple hierarchical levels: high-level task planning, mid-level motion planning, and low-level control. This segmentation allows the robot to handle complex dynamic tasks by breaking them down into manageable sub-tasks at different abstraction levels, improving both adaptability and reliability.
Solution Approach 2:
The patent implements preliminary action through pre-planning and simulation capabilities. The system performs virtual rehearsal of tasks in simulated environments before actual execution, allowing the robot to prepare motion plans and anticipate challenges in advance, thereby improving reliability when facing complex dynamic tasks.
2Adaptability or versatility
If robots increase task execution capability, then they can handle more complex tasks, but computational requirements and system complexity increase
Solution Approach 1:
The patent divides the robotic system into modular functional components: perception module, planning module, control module, and execution module. Each module handles specific aspects of task execution, reducing overall system complexity while maintaining high task execution capability through specialized processing at each stage.
Solution Approach 2:
The patent introduces a temporal dimension to task execution by implementing real-time planning and adaptive replanning capabilities. The system operates in continuous time, allowing it to handle complex tasks dynamically without requiring overly complex static planning, thereby managing system complexity while enhancing capability.
3Measurement precision
If robots process detailed environmental information, then they can interact with irregular objects accurately, but processing time and computational load increase
Solution Approach 1:
The patent segments environmental information processing into hierarchical levels of detail: coarse scene understanding, medium-level object identification, and fine-level interaction planning. This segmentation allows the robot to process only necessary levels of detail for each task phase, maintaining measurement precision while reducing overall processing time.
Solution Approach 2:
The patent implements partial processing by focusing computational resources on relevant portions of the environment. The system processes detailed information only for objects and regions pertinent to current tasks, using selective attention mechanisms that reduce processing time while maintaining accuracy for critical interactions.
Data Source
AI summary
Systems, apparatuses and methods may provide for controlling one or more end effectors by generating a semantic labelled image based on image data, wherein the semantic labelled image is to identify a shape of an object and a semantic label of the object, associating a first set of actions with the object, and generating a plan based on an intersection of the first set of actions and a second set of actions to satisfy a command from a user through actuation of one or more end effectors, wherein the second set of actions are to be associated with the command.