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:
May. 20, 2025
Filed:
Sep. 23, 2022
Fanuc Corporation, Yamanashi, JP;
Kaimeng Wang, Fremont, CA (US);
Yongxiang Fan, Fremont, CA (US);
FANUC CORPORATION, Yamanashi, JP;
Abstract
A technique for robotic grasp teaching by human demonstration. A human demonstrates a grasp on a workpiece, while a camera provides images of the demonstration which are analyzed to identify a hand pose relative to the workpiece. The hand pose is converted to a plane representing two fingers of a gripper. The hand plane is used to determine a grasp region on the workpiece which corresponds to the human demonstration. The grasp region and the hand pose are used in an optimization computation which is run repeatedly with randomization to generate multiple grasps approximating the demonstration, where each of the optimized grasps is a stable, high quality grasp with gripper-workpiece surface contact. A best one of the generated grasps is then selected and added to a grasp database. The human demonstration may be repeated on different locations of the workpiece to provide multiple different grasps in the database.