Three-Finger Robot Grasping for Overlapping Object Pickup
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Solution Overview
Problem
Conventional robots face difficulties in holding target objects with small flat surfaces or overlapping cylindrical objects, as they struggle to create a gap for suction or insertion between closely packed items, leading to failed grasping attempts.
Innovation Solution
A robot system equipped with a third finger that can move and position objects to create gaps between them, allowing the first and second fingers to insert and hold the objects, utilizing a neural network for learning and controlling the motion to adapt to various object configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot uses conventional two-finger or suction cup holding methods, then it can hold objects with large flat surfaces or cylindrical objects, but it fails to hold objects with small flat surfaces or overlapping cylindrical objects
Solution Approach 1:
The robot hand is segmented into three independent fingers (first, second, and third fingers) that can operate independently. The third finger is specifically designed to create gaps by pushing objects, while the first and second fingers perform the actual holding. This segmentation allows the system to handle diverse object configurations that single-function grippers cannot manage.
Solution Approach 2:
The third finger performs a preliminary action by pushing objects to create gaps before the first and second fingers attempt to hold the target object. This preliminary gap-creating action enables subsequent successful grasping of objects that would otherwise be inaccessible due to tight packing or overlapping configurations.
2Quantity of substance
If objects are placed closely together or overlap, then storage density increases, but the robot cannot create gaps for suction or finger insertion
Solution Approach 1:
The robot hand is segmented into three independent fingers (first, second, and third fingers) that can operate independently. The third finger is specifically designed to create gaps by pushing objects, while the first and second fingers perform the actual holding. This segmentation allows the system to handle diverse object configurations that single-function grippers cannot manage.
Solution Approach 2:
The third finger acts as an intermediary tool between the robot system and the tightly packed objects. Instead of directly attempting to grasp the target object, the third finger mediates by creating necessary gaps through pushing actions, enabling the first and second fingers to subsequently access and hold the target object.
3Device complexity
If the robot uses fixed holding patterns, then control simplicity is maintained, but it cannot adapt to various object configurations
Solution Approach 1:
The robot control system transitions from fixed, static holding patterns to dynamic, adaptive control. The control device dynamically determines the sequence of finger movements based on real-time object configurations, allowing the third finger to push objects apart and enabling the first and second fingers to adapt their positioning for successful grasping of various object types.
Solution Approach 2:
The system incorporates feedback mechanisms where the control device monitors object configurations and adjusts finger movements accordingly. Based on visual or sensor feedback about object positions and orientations, the control device dynamically modifies the holding strategy, enabling adaptation to diverse object configurations while maintaining coordinated control of all three fingers.
Data Source
AI summary
A robot system includes a robot including a plurality of fingers for holding a target object and a control device configured to control a motion of the robot. The control device includes one or more processors. The processors acquire an image of a first target object and a second target object taken by an imaging device. The processors control the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the fingers into the gap, and holds the first target object.