Real-Time Determination of Object Metrics for Trajectory Planning

摘要

Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

主权项

1. A method comprising:
causing a robotic manipulator to pick up an object in an environment with an end effector; causing the robotic manipulator to pivot the object around an edge of the object in contact with a surface in the environment; while causing the robotic manipulator to pivot the object, using sensor data from a force-torque sensor cause the robotic manipulator to follow a trajectory that maintains contact between the edge of the object and the surface in the environment; and determining at least one dimension of the object based on the trajectory followed by the robotic manipulator.