The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 24, 2024
Filed:
Dec. 06, 2021
Fanuc Corporation, Yamanashi, JP;
Kaimeng Wang, Fremont, CA (US);
Tetsuaki Kato, Fremont, CA (US);
FANUC CORPORATION, Yamanashi, JP;
Abstract
A method for teaching and controlling a robot to perform an operation based on human demonstration with images from a camera. The method includes a demonstration phase where a camera detects a human hand grasping and moving a workpiece to define a rough trajectory of the robotic movement of the workpiece. Line features or other geometric features on the workpiece collected during the demonstration phase are used in an image-based visual servoing (IBVS) approach which refines a final placement position of the workpiece, where the IBVS control takes over the workpiece placement during the final approach by the robot. Moving object detection is used for automatically localizing both object and hand position in 2D image space, and then identifying line features on the workpiece by removing line features belonging to the hand using hand keypoint detection.