发明名称 |
Methods and computer-program products for generating grasp patterns for use by a robot |
摘要 |
Methods and computer program products for generating robot grasp patterns are disclosed. In one embodiment, a method for generating robot grasp patterns includes generating a plurality of approach rays associated with a target object. Each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object. The method further includes generating at least one grasp pattern for each approach ray to generate a grasp pattern set of the target object, calculating a grasp quality score for each individual grasp pattern of the grasp pattern set, and comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold. The method further includes selecting individual grasp patterns of the grasp pattern set having a grasp quality score that is greater than the grasp quality threshold, and providing the selected individual grasp patterns to the robot for on-line manipulation of the target object. |
申请公布号 |
EP2657863(A3) |
申请公布日期 |
2016.04.06 |
申请号 |
EP20120199730 |
申请日期 |
2012.12.28 |
申请人 |
TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.;CARNEGIE MELLON UNIVERSITY |
发明人 |
OTA, YASUHIRO;KIM, JUNGGON;IWAMOTO, KUNIHIRO;KUFFNER, JAMES J.;POLLARD, NANCY S. |
分类号 |
G06F17/50;B25J9/16 |
主分类号 |
G06F17/50 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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