Systems and methods for planning a robot grasp that can withstand task disturbances
First Claim
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1. A method for planning a robot grasp, the method comprising:
- measuring interaction forces imposed on an object by an environment while a task is demonstrated by a human user using the object to obtain a disturbance distribution dataset, wherein demonstrating the task comprises the user demonstrating the task with an actual object in an actual environment, wherein the object comprises one or more sensors that measure the forces, or comprises the user demonstrating the task with a virtual object in a virtual environment, wherein the virtual object is controlled in the virtual environment by the user with a haptic device;
a computer modeling a task requirement based upon the disturbance distribution dataset;
the computer identifying multiple robot grasp types stored in computer memory that can be used to satisfy the task requirement;
the computer calculating a grasp wrench space for each identified robot grasp type;
the computer calculating a grasp quality of each robot grasp type; and
the computer selecting the robot grasp type that has the highest grasp quality.
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Abstract
In one embodiment, a system and method for planning a robot grasp involve measuring interaction forces imposed on an object by an environment while a task is demonstrated using the object to obtain a disturbance distribution dataset, modeling a task requirement based upon the disturbance distribution dataset, identifying robot grasp types that can be used to satisfy the task requirement, calculating a grasp wrench space for each identified robot grasp, and calculating a grasp quality of each grasp.
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Citations
22 Claims
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1. A method for planning a robot grasp, the method comprising:
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measuring interaction forces imposed on an object by an environment while a task is demonstrated by a human user using the object to obtain a disturbance distribution dataset, wherein demonstrating the task comprises the user demonstrating the task with an actual object in an actual environment, wherein the object comprises one or more sensors that measure the forces, or comprises the user demonstrating the task with a virtual object in a virtual environment, wherein the virtual object is controlled in the virtual environment by the user with a haptic device; a computer modeling a task requirement based upon the disturbance distribution dataset; the computer identifying multiple robot grasp types stored in computer memory that can be used to satisfy the task requirement; the computer calculating a grasp wrench space for each identified robot grasp type; the computer calculating a grasp quality of each robot grasp type; and the computer selecting the robot grasp type that has the highest grasp quality. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer-readable medium comprising:
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logic configured to receive interaction forces imposed on an object by an environment to obtain a disturbance distribution dataset, the forces having been measured while a task was demonstrated using the object, wherein demonstrating the task comprises the user demonstrating the task with an actual object in an actual environment, wherein the object comprises one or more sensors that measure the forces, or comprises the user demonstrating the task with a virtual object in a virtual environment, wherein the virtual object is controlled in the virtual environment by the user with a haptic device; logic configured to model a task requirement based upon the disturbance distribution dataset; logic configured to identify robot grasp types that can be used to satisfy the task requirement; logic configured to calculate a grasp wrench space for each identified robot grasp type; logic configured to calculate a grasp quality of each robot grasp type, and logic configured to select the robot grasp type that has the highest grasp quality. - View Dependent Claims (11, 12, 13, 14)
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15. A system for planning a robot grasp, the system comprising:
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a force measurement device comprising one or more sensors configured to measure interaction forces imposed on an actual object when the object is used by a human user to perform a task in an actual environment or a haptic device configured to measure interaction forces imposed on a virtual object when the haptic device is used by the human user to perform a task with the virtual object in a virtual environment; a computer having a non-transitory computer-readable medium that stores a grasp planning system including; logic configured to receive the interaction forces measured by the force measurement device to obtain a disturbance distribution dataset, logic configured to model a task requirement based upon the disturbance distribution dataset, logic configured to identify robot grasp types that can be used to satisfy the task requirement, logic configured to calculate a grasp wrench space for each identified robot grasp type, logic configured to calculate a grasp quality of each robot grasp type, and logic configured to select the robot grasp type that has the highest grasp quality. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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Specification