Planning a grasp, for use by a robotic grasper to pick up a complex object, based on object, grasper, and grasper approach data
First Claim
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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Accused Products
Abstract
A system, for planning a grasp for implementation by a grasping device having multiple grasping members, including 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 multiple operations. The operations include generating, for each of the multiple grasping members, multiple planar polygon representations of a three-dimensional object model. The operations also include transforming a planar polygon, of the multiple polygons generated, to a frame of a link of multiple links of a subject member of the multiple grasping members, forming a transformed polygon, being a cross-section of the object model taken along a member-curling plane of the subject member. The operations further include sweeping, in iterations associated respectively with each link of the subject member, the link from a fully-open position for the link to a point at which the link contacts the transformed planar polygon.
6 Citations
20 Claims
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1. A system, for use in planning a grasp for implementation by a grasping device having multiple grasping members, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method, for use in planning a grasp for implementation by a grasping device having multiple grasping members, comprising:
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determining, by a tangible system having a processor executing instructions stored on a non-transitory computer-readable storage device, a member-curling plane for each of the multiple grasping members; generating by the tangible system, for each of the member-curling planes, a respective planar polygon representation of a three-dimensional object model, yielding multiple planar polygon representations; transforming, by the tangible system, a first planar polygon representation, of the multiple planar polygon representations generated, 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, by the tangible system, 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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20. A non-transitory computer-readable storage device having stored thereon computer-executable instructions that, when executed by a processor, cause the processor to perform operations, for use in planning a grasp for implementation by a grasping device having multiple grasping members, comprising:
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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 generated, 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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Specification