Manipulating fracturable and deformable materials using articulated manipulators

US11628566B2 · kind B2 · utility

Assignee

• The Charles Stark Draper Laboratory, Inc. · US

Inventors

• David M. S. Johnson · Wilmington, US
• Syler Wagner · Somerville, US
• Steven Lines · Brookline, US
• Mitchell Hebert · Littleton, US

Key dates

• Filing date: Sep 13, 2019
• Grant date: Apr 18, 2023
• Expiry date: Nov 28, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/49157
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

In an embodiment, a method and system use various sensors to determine a shape of a collection of materials (e.g., foodstuffs). A controller can determine a trajectory which achieves the desired end-state, possibly chosen from a set of feasible, collision-free trajectories to execute, and a robot executes that trajectory. The robot, executing that trajectory, scoops, grabs, or otherwise acquires the desired amount of material from the collection of materials at a desired location. The robot then deposits the collected material in the desired receptacle at a specific location and orientation.