Robotic grasping via RF-visual sensing and learning
US12403590B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 15, 2022 |
| Grant date | Sep 2, 2025 |
| Priority date | — |
| Expiry date | Mar 2, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40577
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Described is the design, implementation, and evaluation of a robotic system configured to search for and retrieve RFID-tagged items in line-of-sight, non-line-of-sight, and fully-occluded settings. The robotic system comprises a robotic arm having a camera and antenna strapped around a portion thereof (e.g. a gripper) and a controller configured to receive information from the camera and (radio frequency) RF information via the antenna and configured to use the information provided thereto to implement a method that geometrically fuses at least RF and visual information. This technique reduces uncertainty about the location of a target object even when the object is fully occluded. Also described is a reinforcement-learning network that uses fused RF-visual information to efficiently localize, maneuver toward, and grasp a target object. The systems and techniques described herein find use in many applications including robotic retrieval tasks in complex environments such as warehouses, manufacturing plants, and smart homes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.