SYSTEMS AND METHODS FOR CONTROL OF ROBOTIC MANIPULATION

摘要

A robot system and method are provided that move an articulable arm relative to a target object. Perception information corresponding to a position of the arm relative to the target object is acquired at an acquisition rate. Movement of the arm is controlled at a control rate that is at least one of faster than or unsynchronized with the acquisition rate. Predicted position information representative of a predicted positioning of the arm is provided using the perception information. The arm is controlled using the perception information and the predicted position information.

主权项

1. A robot system configured to manipulate a target object, the robot system comprising:
an articulable arm configured to move relative to the target object; a perception acquisition unit configured to be mounted to the arm and to acquire, at an acquisition rate, perception information corresponding to a position of the arm relative to the target object; at least one processor configured to be operably coupled to the arm and the perception acquisition unit, the at least one processor configured to:
control movement of the arm at a control rate that is at least one of faster than or unsynchronized with the acquisition rate of the perception acquisition unit,provide predicted position information representative of a predicted positioning of the arm using the perception information, andcontrol the arm using the perception information and the predicted position information.