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Planning a grasp, for use by a robotic grasper to pick up a complex object, based on object, grasper, and grasper approach data

  • US 9,399,291 B2
  • Filed: 12/06/2013
  • Issued: 07/26/2016
  • Est. Priority Date: 12/07/2012
  • Status: Active Grant
First Claim
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1. A system, for use in planning a grasp for implementation by a grasping device having multiple grasping members, comprising:

  • a processor; and

    a computer-readable storage device having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to perform operations comprising;

    determining a member-curling plane for each of the multiple grasping members;

    generating for each of the member-curling planes, a respective planar polygon representation of a three-dimensional object model, yielding multiple planar polygon representations;

    transforming a first planar polygon representation, of the multiple planar polygon representations, corresponding to a first grasping member of the multiple grasping members, to a frame of a link, of multiple links, of the first grasping member, yielding a transformed planar polygon representation, wherein the transformed planar polygon representation is a cross-section of the three-dimensional object model taken along the member curling plane of the first grasping member; and

    sweeping the link from a fully-open position for the link to a point at which the link contacts the transformed planar polygon representation.

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