The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 23, 2021
Filed:
Mar. 25, 2019
Dishcraft Robotics, Inc., San Carlos, CA (US);
Kerkil Choi, Los Gatos, CA (US);
Yen-Khai Lee, Cupertino, CA (US);
Paul Michael Birkmeyer, San Carlos, CA (US);
DISHCRAFT ROBOTICS, INC., San Carlos, CA (US);
Abstract
An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.