Method and system for handling deformable objects

Abstract

A control server controls a dual-arm robotic manipulator (DARM) for handling deformable objects in a stack. The control server receives a set of images of the stack captured by a set of image sensors, and determines a contour of the stack based the set of images. Based on the contour and historical data associated with the deformable objects in the stack, the control server determines a sequence of actions to be performed by the DARM for handling a first deformable object in the stack, and controls the DARM to handle the first deformable object by communicating a set of commands corresponding to each action in sequence of actions. The first deformable object is handled such that original form factors of the first deformable object and the remaining stack are maintained.

What is claimed is: 
     
         1 . A system for handling one or more deformable objects that are arranged in a stack, the system comprising:
 a dual-arm robotic manipulator comprising:
 first and second robotic arms; and 
 first and second end effectors connected to the first and second robotic arms, respectively; 
   a set of image sensors configured to capture a first set of images of the stack; and   a control server in communication with the dual-arm robotic manipulator and the set of image sensors, the control server configured to:
 detect the one or more deformable objects arranged in the stack based on the first set of images captured by the set of image sensors; 
 determine a contour of the detected one or more deformable objects based on the first set of images; 
 determine, based on the contour, a sequence of a plurality of actions to be performed by the dual-arm robotic manipulator for handling a first deformable object in the stack, wherein the handling includes a pick operation to be executed on the first deformable object; and 
 control, in the pick operation based on the determined sequence of the plurality of actions:
 the first robotic arm to grip the first deformable object from a gripping end by way of the first end effector, and lift the gripped end to a predetermined height to partially lift the first deformable object; 
 the second robotic arm to slide the second end effector beneath the partially lifted first deformable object, and lift the first deformable object in entirety; and 
 the first robotic arm to release the grip of the first end effector on the first deformable object for successfully executing the pick operation.