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:
Apr. 21, 2015
Filed:
Jan. 13, 2012
Yasuhiro Ota, Union, KY (US);
Junggon Kim, Pittsburgh, PA (US);
Kunihiro Iwamoto, Burlington, KY (US);
James J. Kuffner, Mountain View, CA (US);
Nancy S. Pollard, Pittsburgh, PA (US);
Yasuhiro Ota, Union, KY (US);
Junggon Kim, Pittsburgh, PA (US);
Kunihiro Iwamoto, Burlington, KY (US);
James J. Kuffner, Mountain View, CA (US);
Nancy S. Pollard, Pittsburgh, PA (US);
Toyota Motor Engineering & Manufacturing North America, Inc., Erlanger, KY (US);
Carnegie Mellon University, Pittsburgh, PA (US);
Abstract
Methods and computer program products for generating robot grasp patterns are disclosed. In one embodiment, a method for generating robot grasp patterns includes generating a plurality of approach rays associated with a target object. Each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object. The method further includes generating at least one grasp pattern for each approach ray to generate a grasp pattern set of the target object, calculating a grasp quality score for each individual grasp pattern of the grasp pattern set, and comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold. The method further includes selecting individual grasp patterns of the grasp pattern set having a grasp quality score that is greater than the grasp quality threshold, and providing the selected individual grasp patterns to the robot for on-line manipulation of the target object.