Steve Croft

Bio: Steve Croft is an academic researcher. The author has contributed to research in topics: GRASP & Mobile manipulator. The author has an hindex of 2, co-authored 2 publications receiving 108 citations.

Object Pickup Strategies for a Robotic Device

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

Moveable apparatuses having robotic manipulators and conveyors to facilitate object movement

Abstract: Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.

Robotic carton unloader

Abstract: A robotic carton unloader for automatic unloading of cartons from a carton pile. In various embodiments, a robotic carton unloader may comprise a mobile body, a movable robotic arm attached to the mobile body and comprising an end effector configured to unload a row of cartons in a side-by-side orientation from the carton pile, and a conveyor system mounted on the mobile body and configured to receive the row of cartons from the end effector in the side-by-side orientation. In various embodiments the conveyor system may comprise a front-end descrambler and a central descrambler coupled to the front-end descrambler. In various embodiments, the robotic arm may be configured to straddle at least a portion of the mobile body and at least a portion of the conveyor system such that the conveyor system conveys cartons from the carton pile through the robotic arm.

Systems and methods for providing processing of a variety of objects employing motion planning

Abstract: A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.

Omni-directional mobile transfer robot

Abstract: The invention discloses an omni-directional mobile transfer robot. The omni-directional mobile transfer robot comprises a mobile chassis, a carrying rack, a rotating mechanism, a lifting mechanism, a manipulator, a visual system, a laser sensor, a control system and a charging system. The mobile chassis is provided with Mecanum wheels for realizing omni-directional moving. The lifting mechanism can adjust the height of the manipulator. Rotational motion of a stand column at any angle can be realized through the rotating mechanism. Moreover, through cooperation of the manipulator having seven degrees of freedom, the working range is larger. Precision guidance can be realized through the laser sensor and the visual system. Operation is convenient. Motion is fast. The omni-directional mobile transfer robot is used for replacing manual operation, the working strength is reduced, and the production efficiency is improved. The omni-directional mobile transfer robot has high flexibility.

Selective sorting method

Abstract: A selective sorting method is described to identify and sort material objects of different natures, sizes and shapes having the form of a pile. The method is characterized in that the attribution of the nature of the object to be sorted includes in capturing at least one two-dimensional image wherein the object appears, using at least one sensor for electromagnetic radiation and in diffusing at least one of the two-dimensional images on a display screen that can be observed by an operator, the operator attributing a nature to the object viewed. A device able to implement the method is also described.

Method and facility for automatically gripping an object

Abstract: The invention relates to a method for automatically gripping, via a polyarticulated system (3) secured to a viewing system (9), an object (2) located in an area (4) capable of receiving at least one object (2), said polyarticulated system (3) comprising at least one gripping member (5) capable of grabbing an object (2) by a specific area of said object (2) According to the invention, the method comprises at least the steps of: capturing an image of the receiving area (4) via the viewing system (9); processing the information resulting from the 3D image and identifying all the specific areas that the objects (2) to be grabbed can include, and which are compatible with the one or more gripping members (5); locating the position and direction of the one or more compatible specific areas identified; selecting one of the located compatible specific areas and automatically defining, for the corresponding gripping member (5), a path for taking the corresponding object (2) by the selected compatible specific area; grabbing the corresponding object (2) according to the defined path