公开(公告)号：US20230311330A1

公开(公告)日：2023-10-05

申请号：US18127789

申请日：2023-03-29

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Alexis BURNS ,  Pedro PIACENZA ,  Larry JACKEL ,  Shurna SONG ,  Daewon LEE

IPC: B25J9/16 ,  B67D3/00

CPC classification number: B25J9/1697 ,  B25J9/1679 ,  B67D3/0051

Abstract: Provided are a robotic device and a method for controlling a robotic device for pouring a granular media including obtaining an image of a receiving container, identifying, using the image and a convolutional neural network, a current height of granular media in the receiving container, identifying a terminal height of the granular media in the receiving container, determining an input trajectory signal to the robotic device for pouring a non-granular media to the terminal height of the granular media based on the current height of the granular media, determining a wrist tilt command signal by modifying the input trajectory signal using a square wave that is based on a type of the granular media, and controlling the robotic device to tilt and vibrate a source container according to the wrist tilt command signal.