Patent ID: 11958191
Assignee: MUJIN, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 17:
18. A tangible, non-transitory computer-readable medium having processor instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
receiving image data depicting packages at a start location, wherein the image data is for analyzing simultaneous grasp of two or more of the packages;
identifying a set of grip poses for grasping a target package, wherein the set of grip poses represent one or more poses of a multi-gripper assembly of a transport robot that overlap a second package in addition to the target package;
deriving a combined movement control parameter for each represented pose in the set of grip poses, wherein the combined movement control parameter represents a setting for the transport robot for simultaneously manipulating the target package and the second package;
determining a release sequence for placing the target package and the second package at respective target locations;
selecting a simultaneous grasp pose from the set of grip poses based on the combined movement control parameter and the release sequence; and
implementing a motion plan based on the simultaneous grasp pose for operating the transport robot to simultaneously grasp and transfer the target package and the second package.