Abstract: A staple removing device configured to remove a staple from a sheet bundle bound by the staple, the staple removing device includes a support part comprising a placement surface capable of placing the sheet bundle thereon, an insertion part configured to be insertable between the sheet bundle and the staple in a state in which the sheet bundle is supported on the support part, and configured to remove the staple from the sheet bundle by the insertion, and a controller configured to control an operation of the insertion part. The controller is configured to reciprocally move the insertion part multiple times between the sheet bundle and the staple in a process of removing the staple from the sheet bundle.

Abstract: According to one implementation, a tool driving device includes a drill chuck, a motor, a casing and a vibrating mechanism. The drill chuck holds a drill. The motor is configured to rotate the drill chuck. The casing houses the motor. The vibrating mechanism is configured to periodically reciprocate the drill chuck relatively to the casing in a tool axis direction during rotation of the drill chuck. The vibrating mechanism is configured to distance the drill chuck from the casing at a first speed smaller than a second speed for bringing the drill chuck close to the casing.

Abstract: A power tool accessory system for a power tool includes a power tool accessory with a housing, an input shaft rotatably driven by a power tool, and a working tool driven to perform an operation upon rotation of the input shaft. The system also includes a brace configured to removably couple the housing to the power tool while the input shaft rotates. The brace includes a clamp assembly configured to be fixedly coupled to a base of the power tool handle, and an arm assembly with a first end portion configured to be coupled to the housing and a second end portion configured to be coupled to the clamp assembly. The second end portion is removable from the clamp assembly while the clamp assembly remains fixedly coupled to the power tool to enable removal of the power tool accessory from the power tool.

Abstract: The invention relates to a power tool (2), a kit of parts, and method of controlling the operation of the same depending upon the configuration of use of the power tool (2) at an instant of time. The power tool (2) can, in one embodiment be a router power tool to perform work on a workpiece (32), and switching means (28, 42) allow the selective operation of the power tool (2) by controlling an electrical power source. First switching means (28) include a no Voltage release (NVR) function and means are provided to selectively disable the NVR function of the first switching means (28) when the power tool (2) is used in at least one predetermined configuration. Typically, this allows second switching means (42) which include a NVR function to be used to control the power to the tool (2). A fence body for use with a router is also disclosed.

Abstract: A power tool includes a motor, a spindle, an inner housing, an outer housing formed by an upper member and a lower member, a pair of interposing members and a pair of elastic members. The interposing members are arranged leftward and rightward of the inner housing, respectively, and fixedly connected to a first member, which is one of the upper member and the lower member, and at least partially in contact with an inner surface of the first member. The elastic members are held between a left portion of the inner housing and one of the interposing members and between a right portion of the inner housing and the other of the interposing members, respectively. A first end portion of each of the interposing members has at least one first surface extending to be closer to the inner housing toward a tip end of the first end portion.

Abstract: A power tool includes a housing, a motor, a ball sleeve, an oscillating member with a mounting portion, and an output shaft rotating around an output shaft axis. The oscillating member and the ball sleeve are engaged in an engagement region on the oscillating member, and the geometric center of the engagement region is an engagement center. A first plane bisects the first bearing assembly along a direction of the output shaft axis, and a second plane bisects the second bearing assembly along the direction of the output shaft axis. The height from the engagement center to the first plane is a first height H1, the height from the engagement center to the second plane is a second height H2, and the ratio H1/H2 of the first height H1 to the second height H2 is greater than or equal to 0.5 and less than or equal to 1.4.

Abstract: An auxiliary grip for an impact tool capable of enhancing a shock absorbing function, comprising a grip shaft extending orthogonally to the impact direction, a tubular grip body covering the grip shaft, and a connecting mechanism for connecting the grip body at one end of the grip shaft.

Abstract: A multipurpose screwdriver and bit holder tool, comprising an outer housing defining a longitudinal axis having channels on the outer periphery for storage of one or more screw bits, ensuring secure retention and easy accessibility; an ergonomic anti-slip handle, ensuring a comfortable grip and convenient tool access with an attachment for difficult to access areas; a Slide-in and slide-out screw bit design in the channels in the outer periphery of the tool, allowing for quick tool interchange, wherein the screw-bits retained in place in the channels; and an wrench cap equipped with a magnetic slide-lock mechanism for secure screw bit storage. The tool further comprises hex Sockets, wingnut too, wire-bender tool, bubble leveler, spoke wrench, rulers, double sided screw bits in the internal housing. The screwdriver and bit holder tool can be used with an attachment having more tools.

Abstract: A bi-directional robotic crawler includes a first drive system having a first drive member, a second drive member, and a support member. The first drive member includes a first pair of wheels and the second drive member includes a second pair of wheels. A second drive system includes a third drive member and a fourth drive member. The third drive member includes a first drive element and the fourth drive member includes a second drive element. A linking member selectively pivots the third drive member and the fourth drive member relative to the support member. A motor is mounted to the first drive system. The motor selectively operates the first and second pairs of wheels to move the bi-directional robotic crawler along a first axis and the first and second drive elements to move the bi-directional robotic crawler along a second axis.

Abstract: A method for controlling a robot having a plurality of modular robots for performing requested service-related tasks includes individually controlling each of the plurality of modular robots through a robot control system without interactions between the plurality of modular robots.

Abstract: In an substrate processing apparatus according to the present invention, a chamber has a a conveyance opening for conveying the substrate along a conveyance path between the outside of the chamber and the substrate holder and a maintenance opening provided on an opposite side of the conveyance opening with the substrate holder. A rotating mechanism has a motor for generating a rotational driving force to rotate the substrate holder and a power transmitter for transmitting the rotational driving force generated by the motor to the substrate holder. The motor and the power transmitter are so arranged on the opposite side of the conveyance opening with respect to the substrate holder, as to face the maintenance opening, to thereby make the rotating mechanism accessible through the maintenance opening from the outside.

Abstract: A substrate transport apparatus including a frame, a drive section connected to the frame and including at least one independently controllable motor, at least two substrate transport arms connected to the frame and comprising arm links arranged for supporting and transporting substrates, and a mechanical motion switch coupled to the at least one independently controllable motor and the at least two substrate transport arms for effecting the extension and retraction of one of the at least two substrate transport arms while the other one of the at least two substrate transport arms remains in a substantially retracted configuration.

Abstract: A method and system are provided for real-time predictive failure monitoring of a robotic gripper alignment. A sensor board embedded in a robotic gripper includes a plurality of sensors to generate sensor data comprising motion data, inclination data and accelerometer data. Sensor board includes an alignment classification engine using machine learning based models to classify alignment and misalignment configuration of the robotic gripper based on received sensor data. Notification is sent to a user interface for both correct alignment and misalignment classifications in real-time.

Abstract: The method can include: optionally providing a set of grasp tools; determining an object model for a grasp; determining a grasp contact configuration; and facilitating grasp execution with the set of grasp tools. However, the method S100 can additionally or alternatively include any other suitable elements. The method functions to facilitate non-destructive and/or stable object grasping (and/or object manipulation) using a set of grasp tools.

Abstract: According to one embodiment, a selection device selects an acquisition method of a grip point for gripping an object. Based on object data corresponding to a characteristic of the object, the selection device selects one of a first method or a second method. In the first method, the selection device calculates exterior shape data of the object from an image of the object, and calculates the grip point by using the exterior shape data. In the second method, the selection device inputs the image to a first model that is trained and acquires the grip point output from the first model.

Abstract: An apparatus is described for robotic control of an ultrasound imaging device. The apparatus comprises a fixed base and a movable platform with an end-effector. A plurality of passive soft links connects the platform to the base. A series of cables connect the platform to a set of motors adjacent the base. When the platform is at rest, the tension in the cables counter-balances the passive soft links pushing the platform away from the base plate. Control electronics move the motors so as to control the location and the orientation of the platform. By increasing or decreasing tension in the cables, the motors smoothly control the location and the orientation of the platform and thus the end effector. Such a robotic apparatus can be used to provide expert handling of an ultrasound imaging device remotely.

Abstract: This numerical control apparatus 5 controls the operation of a machine tool 2 on the basis of a numerical control program, generates, for a robot control device 6 that controls the operation of a robot 3 and a transfer device 4 which moves the robot 3, a robot command for moving a control axis of the robot 3 and a travel axis command for moving a travel axis of the transfer device 4, and inputs the generated commands to the robot control device 6. The numerical control apparatus 5 comprises: a coordinate value management unit 55 that acquires, respectively as additional axis reference coordinate values and robot reference coordinate values, coordinate values of the travel axis of the transfer device 4 and the control axis of the robot 3 acquired by the robot control device 6; and a command generation unit 56 that generates the robot command and the travel axis command on the basis of the numerical control program, the robot reference coordinate values, and travel axis reference coordinate values.

Abstract: There is provided a robot device that implements unloading or loading of a load to a loading platform, with less degrees of freedom. The robot device includes a loading unit on which a load is placed, a posture changing unit that changes a posture of the loading unit, a moving unit that moves the loading unit, a taking-out unit that takes out the load placed on the load receiving surface and moves the load to the loading unit, and a control unit that controls operation of the posture changing unit and the moving unit. The control unit performs force control of the posture changing unit to cause the loading unit to follow the load receiving surface, and then controls the taking-out unit to take out the load placed on the load receiving surface and move the load to the loading unit.

Abstract: A method for determining a torque for an operation of a robot that includes multiple components, using a model of the robot. Two components of the robot being movable using an actuator relative to one another at a connection point. The model maps parameters for the connection points onto a torque for the respective actuator. The method includes: providing values for the parameters including: a position or an angle a velocity, and an acceleration of the respective actuator; determining a value for the rigid body partial torque, the friction partial torque, and the machine learning partial torque, based on the values of the parameters and the model; determining a value of the torque of the respective actuator based on the values of the partial torques, and providing the value of the torque for the respective actuator for use during the operation, control or regulating of the robot.

Abstract: A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

Abstract: A robot control system includes processing circuitry that generates an inquiry for a user while a robot is executing a task, identifies an action of the user in response to the inquiry using a sensor, complements at least part of the task based on the identified action, and controls the robot such that the robot executes the complemented at least part of the task.

Abstract: Systems and methods for online iterative re-planning are provided herein. In one embodiment, a method includes receiving, at a first time step, a first grasp and an initial object pose of an agent. The method also includes generating a first set of candidate object trajectories based on the first grasp and the initial object pose. Candidate object trajectories of the first set of candidate object trajectories provide a number object poses from the initial object pose to a goal for a number of future time steps after the first time step. The method further includes calculating contact points for grasps associated with each candidate object trajectory of the first set of candidate object trajectories. The method further includes selecting a first candidate object trajectory from the first set of candidate object trajectories. The method includes causing the agent to execute the first candidate object trajectory at a second time step.

Abstract: A robot system includes: a robotic arm; a passive arm which is coupled to and uncoupled from the robotic arm and is operated by the robotic arm; and a controller which controls first and second operations of the robotic arm. The first operation of the robotic arm is an operation that acts on a target object. The second operation of the robotic arm is an operation of causing the passive arm to act on the target object. In the second operation, the controller executes: coupling the robotic arm and the passive arm; causing the robotic arm to operate the passive arm to engage the passive arm with the target object; and causing the robotic arm to operate the passive arm, which has engaged with the target object, to operate the target object.

Abstract: The embodiment of the present disclosure provides a robot control method, a robot and a storage medium. In the embodiment of the present disclosure, the robot determines a position when the robot is released from being hijacked based on relocalization operation; determines a task execution area according to environmental information around the position when the robot is released from being hijacked; and afterwards executes a task within the task execution area. Thus, the robot may flexibly determine the task execution area according to the environment in which the robot is released from being hijacked, without returning to the position when the robot is hijacked, to continue to execute the task, then acting according to local conditions is realized and the user requirements may be met as much as possible.

Abstract: Disclosed herein are systems, devices, and methods for real-time motion and path planning. The real-time motion and path planner may generate occupancy information about an environment around a robot. The occupancy information represents defined volumes of space of the environment, and each defined volume of space is associated with a corresponding occupancy probability. The motion/path planner also determines a sequence of robot configurations between a starting and a target configuration based on the occupancy information, wherein the sequence of robot configurations defines poses of the robot that occupy selected ones of the defined volumes of space. The motion/path planner also generates an instruction for the robot based on the sequence of robot configurations, wherein the instruction includes trajectory information to control the robot to move from the starting configuration to the target configuration through the sequence of robot configurations.

Abstract: A method is provided that includes: receiving designation of one or more operation sections; generating a plurality of path candidates of a robot for a target operation section of the one or more operation sections; displaying the plurality of path candidates on a user interface; receiving a selection of one of the plurality of path candidates; and deciding the selected path candidate as the operation path of the target operation section.

Abstract: This device for simulating the operation of a robot comprises: an acquisition unit 341 that acquires the position, relative to a robot 100 having a shaft that can move in a rotational or linear manner as a joint, of a mounting article of the robot 100, the mounting article being mounted on a link that is connected to the joint, and also acquires a constraint for at least one of the speed, acceleration, and acting force generated in the mounting article when the robot 100 operates; a calculation unit 342 that calculates at least one of the speed, acceleration, and acting force anticipated to be generated in the mounting article in accordance with the position of the mounting article relative to the robot 100 when the robot 100 executes an operation; and a comparison unit 342 that compares the constraint and at least one of the speed, acceleration, and acting force calculated by the calculation unit 342.

Abstract: This simulation device comprises a simulation implementation unit that simulates a movement of a robot device, and estimates a movement path of a robot. The simulation device comprises a position information generation unit that generates three-dimensional position information for a surface of a workpiece on the basis of the output of a vision sensor, which has imaged an actual workpiece. A display unit displays the three-dimensional position information for the surface of the workpiece, superimposed on an image of a robot device model, an image of a workpiece model, and the movement path of the robot.

Abstract: A method of handling safety of an industrial robot in a workspace, the method including providing a geometric region by a monitoring system, where the geometric region is defined in relation to the industrial robot and/or in relation to the workspace, and where the geometric region is associated with at least one condition for being fulfilled by the industrial robot; communicating the geometric region from the monitoring system to a robot control system of the industrial robot; determining a movement of the industrial robot by the robot control system based on the geometric region and the at least one condition; executing the movement by the industrial robot; and monitoring, by the monitoring system, the execution of the movement with respect to the geometric region and the at least one condition.

Abstract: The present invention relates to a method and device for diagnosing a defect of a collaborative robot, the method comprising the steps in which: an electronic device generates a sensing data structure for managing sensing data collected from at least one collaborative robot; the electronic device generates an operation data structure for managing operation data associated with the operation of the collaborate robot; the electronic device generates a malfunction data structure for managing malfunction data of a point in which the severity of the operation equals to or is higher than a threshold; and the electronic device stores data collected from the at least one collaborative robot in accordance with the structures. Application to other embodiments is also possible.

Abstract: A robotic imaging system includes a body with a head unit, a robotic arm and a coupling plate. A camera is positioned in the head unit and configured to record one or more images of a target site. The camera is operatively connected to one or more handles. A plurality of sensors is configured to transmit sensor data. The sensors include at least one primary sensor configured to detect respective force and/or respective torque applied at the body and at least one auxiliary sensor configured to detect the respective force and/or the respective torque applied at the one or more handles. A controller is configured to receive the sensor data and execute a contact management mode, including determining a contact location of the body with an external object based in part on the sensor data and determining a reverse trajectory for moving the body away from the contact location.

Abstract: The present disclosure provides an acquisition unit acquiring an installation position, which serves as a point of origin within a range in which each of a plurality of robots can move, a start position, which is a prescribed location of each of the plurality of robots when in a starting posture, and an end position, which is a prescribed location when in a final posture, and an evaluation unit evaluates, for each of the plurality of robots, the risk of interference between the plurality of robots on the basis of overlap between polyhedra defined on the basis of polygons that include the installation position, the start position and the end position.

Abstract: Various embodiments are directed to methods, apparatuses, systems, computing devices, computing entities, and the like for robotically depalletizing objects. In various embodiments, a controller-implemented method for robotic depalletization may comprise detecting a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identifying an initial pallet height defined by the first object; identifying a second pallet height defined by a second object of the plurality of palletized objects; detecting a pallet height difference based at least in part on the second pallet height; and determining that the top pallet layer has been depalletized based at least in part on a comparison of the pallet height difference to a threshold pallet layer height.

Abstract: An apparatus for automatically fastening a chemical coupler to a connector of an automatic clean quick coupler (ACQC) system, includes a main body, a multi-degree of freedom (DOF) robot arm on the main body, a gripper on the multi-DOF robot arm that is configured to grip the chemical coupler, a vision sensor on the multi-DOF robot arm, and a controller connected to the gripper, the multi-DOF robot arm, and the vision sensor. The controller uses information about an environment surrounding the multi-DOF robot arm acquired by the vision sensor, to control an operation of the multi-DOF robot arm and an operation of the gripper.

Abstract: Systems and methods for machine positioning are provided herein. Exemplary embodiments include systems and methods using external positional information of an object under observation to compare to a programmed position of the object under observation. The comparison may be used in different manners including, for example, course correction, future path planning, object avoidance, etc.

Abstract: An end effector is presented. The end effector comprises a housing, an actuated mechanical retainer, and a normalizing nosepiece assembly. The actuated mechanical retainer is connected to the housing and configured to selectively constrain and release the normalizing nosepiece assembly from the housing. The normalizing nosepiece assembly is moveable relative to the housing and having a nosepiece bushing configured to contact a workpiece.

Abstract: One embodiment of a method for controlling a robot includes generating a representation of spatial occupancy within an environment based on a plurality of red, green, blue (RGB) images of the environment, determining one or more actions for the robot based on the representation of spatial occupancy and a goal, and causing the robot to perform at least a portion of a movement based on the one or more actions.

Abstract: Provided herein is a system for implementing a series of optimized picking and placing operations in a manner so as to minimize void space when packing a conveyance with parcels. The system may include one or more of an automated intelligent translation platform or motorized intelligent base member, an extendable and retractable injection platform, an automated positioning element that may be moveably coupled to the translation platform, base member, or injection platform, and an automated gripping instrument. One or more of the translation platform, intelligent base, and injection platform for moving the positioning element proximate a parcel to be picked and placed, and the gripper instrument for picking up the parcel for placement, in accordance with a generated placement model that minimized void space. A system server for generating the placement model may also be included.

Abstract: A surgical robot, a method for guiding a surgical arm to move, and a computer readable storage medium thereof. The method includes: acquiring an original position of the operation end effector; determining a target position where the operation end effector is expected to reach; generating a guiding path extended from the original position to the target position according to a vision field of the image end effector; adjusting the operation end effector to move along the guiding path from the original position to the target position. The surgical robot can ensure a safety and a reliability of a surgery.

Abstract: A plurality of robots are installed so that they can simultaneously work on a common workpiece. Robot controllers are installed corresponding to the robots respectively. Each of vision sensors can acquire visual information about a measurement target that the workpiece has. The plurality of the robot controllers and the plurality of the vision sensors can all communicate with the visual processing computer commonly used. The visual processing computer computes a workpiece coordinate system based on a result of measurement of the measurement target that appears in the visual information acquired by the plurality of the vision sensors. Each of the robot controllers corrects a motion of the robot corresponding to the robot controller based on a result of a request to the visual processing computer.

Abstract: An assembly and an apparatus for machining a mechanical part. The assembly includes a parallel robot configured to be mounted onto an end flange of a joint robot. The parallel robot is configured to drive the servo spindle to translate along the one or more axes with respect to the parallel robot. During the machining of the mechanical part, the joint robot can stay stationary for a specific machining position of the mechanical part, and the parallel robot drives the servo spindle to translate along the one or more axes. Then, the machining tool may cut out the required shapes and characteristics at the specific machining position of the mechanical part.

Abstract: Disclosed is a substrate treating apparatus including a substrate holder configured to hold a treatment substrate group, a second transport mechanism configured to pull out and transport a divided substrate group from the treatment substrate group held by the substrate holder, an underwater posture turning unit configured to turn a posture of the divided substrate group, transported by the second transport mechanism, from vertical to horizontal collectively, a center robot configured to take one substrate from the divided substrate group, whose posture is turned to horizontal, and to transport the one substrate to a single-wafer processing unit, a relative lifting and lowering unit configured to move the substrate holder and the second transport mechanism upward and downward relatively, and an alignment direction relative moving unit configured to move the substrate holder and the second transport mechanism relatively horizontally in an alignment direction where the treatment substrate group is aligned.

Abstract: An interactive method, is applied to a terminal device that establishes a connection with a robot in advance and includes: displaying a control interface of the robot, where the control interface includes a motion map and an identifier of the robot; and in response to an operation of a user on the identifier of the robot, controlling the robot to perform corresponding functions in a real environment corresponding to the motion map.

Abstract: A robot is provided. The robot includes a display, a memory storing identification information of the robot, a communication interface communicating with a server providing a virtual environment service, and at least one processor configured to, based on receiving a user input for interlocking the robot with the virtual environment service, transmit the identification information of the robot stored in the memory to the server through the communication interface, and based on receiving interaction information related to an avatar corresponding to the identification information of the robot from the server through the communication interface, control an operation of the robot based on the interaction information.

Abstract: A gripping mechanism includes a pair of gripping parts including a first gripping part and a second gripping part facing each other. Each of the first gripping part and the second gripping part includes a first end, a second end opposite to the first end, a projection provided at the first end, and a rotation shaft provided at the second end. The projection is rotatable about the rotation shaft. The first gripping part and the second gripping part face each other in a direction intersecting a direction in which the rotation shafts extend.

Abstract: An end effector includes: a target-object-positioning mechanism provided at a body member and including a first contact-move member, a second contact-move member and an opening-closing member that make contact with a part of a target object and position a portion of the target object at a processing position; and a processing mechanism provided at the body member and processing the portion of the target object positioned at the processing position. The first contact-move member and the second contact-move member intersect each other inside the opening-closing member. Portions forward of the intersection portion in the first and second contact-move members make contact with the opening-closing member by an elastic restoring force of an elastic member. The opening-closing member, when moved from a rear position to a front position, applies a forward force to the first and second contact-move members so that they are moved in a direction approaching each other.

Abstract: The present application relates to the field of handling apparatus technologies, in particular to an end pickup device, a manipulator and a robot. The end pickup device includes: a mounting seat, a pickup mechanism and a driving mechanism. The pickup mechanism is disposed on the mounting seat and includes at least two pickup apparatuses are movable relative to each other, and the pickup apparatus includes a pickup part for picking up articles. The driving mechanism is disposed on the mounting seat and is in driving connection with the pickup mechanism, and the driving mechanism drives the at least two pickup apparatuses to move relatively, so that the at least two pickup apparatuses pick up the articles in a switching way. Based on this, the replacement time of the pickup parts can be shortened and the working efficiency of the end pickup device can be improved.

Abstract: One example embodiment is a robotic end effector, comprising: (a) a soft gripper and (b) an electro-hydraulic actuator assembly. The soft gripper comprises: a gripper body comprising a finger connecting portion; and at least two fingers connected to the finger connecting portion. The gripper body further comprises a gripper cavity therein. The finger connecting portion and the at least two fingers define a working space therewithin, the working space comprises an opening between proximal ends of the at least two fingers. Each of the at least two fingers further comprises a finger barb substantially extending into the opening to partially close up the opening. The electro-hydraulic actuator assembly comprises: an actuator that is operatively driven by an electric motor; and a chamber that comprises a chamber variable volume controlled by the actuator. The chamber variable volume is in liquid communication with the gripper cavity to form a closed space filled with a liquid.

Abstract: Without an increase in the cost, a movable range is defined. A first joint mechanism includes a base part, and a rotary part that rotates relatively to the base part. The first joint mechanism includes a regulated part that rotates together with the rotary part, a regulating part that is disposed on the extension of the rotation locus of the regulated part, and that has a function of regulating rotation of the regulated part relative to the base part, within a first movable range, and a movable range defining member that is disposed on either the base part or the rotary part, and that defines, as a movable range of the regulated part, a second movable range that is narrower than the first movable range.

Abstract: It is recognized It is recognized herein that current approaches to robotic picking lack efficiency and capabilities. In particular, current approaches often do not properly or efficiently estimate the pose of bins, due to various technical challenges in doing so, which can impact grasp computations and overall performance of a given robot. The pose of the bin can be determined or estimated based on depth images. Such bin pose estimation can be performed during runtime of a given robot, such that grasping can be enhanced due to the bin pose estimations.