Patent ID: 11958202
Assignee: MUJIN, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC B  G  H | IPC B  G  H

Claim 15:
16. A non-transitory computer-readable medium having instructions that, when executed by at least one processing circuit of a computing system, wherein the computing system is configured to communicate with a robot having a robot arm that has a spatial structure sensing camera with a camera field of view disposed on the robot arm, causes the at least one processing circuit to, when a drawer is in a closed position:
determine a location representing a handle of the drawer;
output a container movement command for causing the robot arm to move the drawer from the closed position to an open position;
move the spatial structure sensing camera to another location to capture spatial structure information;
receive the spatial structure information;
determine a drawer pose based on the spatial structure information;
determine an object pose of an object located within the drawer based on the drawer pose; and
output a movement command for causing robot interaction with the object, wherein the movement command is generated based on the object pose.