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:
Dec. 16, 2022
Fanuc Corporation, Yamanashi, JP;
Yongxiang Fan, Palo Alto, CA (US);
FANUC CORPORATION, Yamanashi, JP;
Abstract
A system and method for providing deep collision avoidance between objects in a robotic system. For a collision between a part and an object, the method decomposes the part into a union of part balls having a known radius and center location and decomposes the object into a union of object balls having a known radius and center location. The method obtains a Minkowski difference between each pair of the part balls and the object balls, converts each Minkowski difference into a Minkowski ball having a known center location and radius, and combines the Minkowski balls into a union of overlapping Minkowski balls. The method determines an outer boundary of the union of the overlapping Minkowski balls, extracts boundary points on the boundary as escape vectors, and maps each of the escape vectors into collision-free part pose.