Systems and methods for robotic control under contact

This invention describes a method for robots to grasp objects. The robot uses sensors to identify objects in its environment and creates a digital blueprint, or "virtual model," for a specific object, including its fixed characteristics like shape and weight. It then estimates the object's current position and orientation, and uses both the blueprint and this real-time estimate to figure out the best way to reach out and pick up the object. The claims narrow this to estimating an object's weight based on its detected class.