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

Claim 19:
20. The tangible, non-transitory computer-readable medium of claim 18, wherein determining the release sequence includes:
determining a target contact set representing a set of suction elements overlapping the target package;
determining a remaining set representing a second set of suction elements not in the target contact set;
verifying whether the remaining set is sufficient to grasp the second package based on one or more physical aspects of the second package;
when the remaining set is verified as being insufficient to grasp the second package, determining a target activation set representing a set of suction elements designated to grasp the target package, wherein the target activation set includes less elements than the target contact set;
determining a second contact set to represent a set of suction elements overlapping the second package;
verifying whether the second contact set and the target activation set are mutually exclusive; and
determining the release sequence for releasing the second package before the target package when the second contact set and the target activation set are mutually exclusive.