Abstract: A waste sorting manipulator can include a gripper assembly for interacting with one or more waste objects to be sorted within a working area. There is at least one servo for moving the gripper assembly between the manipulator and the working area. There is also at least one slidable coupling mounted between the at least one servo and the gripper assembly for allowing relative movement between the at least one servo and the gripper assembly.

Abstract: It A waste sorting robot (100) comprises a manipulator (101) moveable within a working area (102). A gripper (103) is connected to the manipulator (101) and arranged to selectively grip a waste object (104, 104a, 104b, 104c) in the working area (102). A controller (108) is in communication with a sensor (107) and is configured to receive detected object parameters, and determine a throw trajectory (109) of the gripped waste object (104) towards a target position (106) based on the detected object parameters of the gripped waste object (104). The controller (108) is configured to send control instructions to the gripper (103) and/or manipulator (101) so that the gripper (103) and/or manipulator (101) accelerates the gripped waste object (104) and releases the waste object (104) at a throw position with a throw velocity and throw angle towards the target position (106) so that the waste object (104) is thrown along the determined throw trajectory (109).

Abstract: A waste sorting robot gripper comprises a suction cup engageable with the surface of a waste object. The suction cup has an air hole for evacuating air from the suction cup. A suction tube is coupled to the suction cup. The suction tube comprises a longitudinal axis. A first air inlet is in fluid communication with the air hole at one end of the suction tube and an air outlet at the other end of the suction tube. A path of the air flow between the air inlet and the air outlet is substantially along the longitudinal axis. The suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet.

Abstract: Feedback information is an important aspect in all machine learning systems. In robot systems that are picking objects from a plurality of objects this has been arranged by acquiring images of objects that have been picked. When images are acquired after picking they can be imaged accurately and the information about picking and also dropping success can be improved by using acquired images as a feedback in the machine learning arrangement being used for controlling the picking and dropping of objects.

Abstract: Feedback information is an important aspect in all machine learning systems. In robot systems that are picking objects from a plurality of objects this has been arranged by acquiring images of objects that have been picked. When images are acquired after picking they can be imaged accurately and the information about picking and also dropping success can be improved by using acquired images as a feedback in the machine learning arrangement being used for controlling the picking and dropping of objects.

Abstract: Feedback information is an important aspect in all machine learning systems. In robot systems that are picking objects from a plurality of objects this has been arranged by acquiring images of objects that have been picked. When images are acquired after picking they can be imaged accurately and the information about picking and also dropping success can be improved by using acquired images as a feedback in the machine learning arrangement being used for controlling the picking and dropping of objects.

Abstract: According to one aspect of the invention, there is provided a method comprising: obtaining at least one image comprising at least one object; analysing the at least one image to determine at least one gripping location to grip an object; selecting a gripping location from the at least one gripping location based on a predetermined criterion; and issuing at least one instruction to a gripper to grip the object at the selected gripping location.

Abstract: The invention relates to a method and system for recognizing physical objects. In the method an object is gripped with a gripper, which is attached to a robot arm or mounted separately. Using an image sensor, a plurality of source images of an area comprising the object is captured while the object is moved with the robot arm. The camera is configured to move along the gripper, attached to the gripper or otherwise able to monitor the movement of the gripper. Moving image elements are extracted from the plurality of source images by computing a variance image from the source images and forming a filtering image from the variance image. A result image is obtained by using the filtering image as a bitmask. The result image is used for classifying the gripped object.

Abstract: In the method of the invention, information is selected in a processing unit. The end result to be achieved is final feature information to be used for performing a task. In the method, input information to the processing unit is treated with the intention to find useful information from the input information in view of the task. Feature information representing characteristics of the input information is formed from the input data, the values of the feature information being further processed on the basis of their utility. The method is mainly characterized in that a preliminary prediction is formed from a first context of a sot of input information by means of first parameters and in that the first primary input of the set of input data is preprocessed by forming calculation results by means of second parameters.