Patent ID: 11911919
Assignee: MUJIN, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 19:
20. A method performed by a computing system, the method comprising:
receiving image information by the computing system, wherein the computing system is configured to communicate with: (i) a robot having an end effector apparatus, and (ii) a camera having a camera field of view, wherein the image information is for representing an object surface associated with a flexible object in the camera field of view, and is generated by the camera;
identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information;
identifying, as a safety region, a three-dimensional (3D) region indicative of a sag portion of the flexible object outside of the grip region in one or more horizontal dimensions, and which extends from the one or more horizontal dimensions along a vertical dimension that is perpendicular to the one or more horizontal dimensions;
performing robot motion planning based on the grip region and the safety region, wherein the robot motion planning is for:
gripping of the flexible object at the grip region by the end effector apparatus, and
avoiding other objects in an environment with the robot; and

communicating commands to the robot to cause the robot to perform the planned motion.