Generating a grasp pose for grasping of an object by a grasping end effector of a robot
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United States of America Patent
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Jun 5, 2018
Issued Date -
N/A
app pub date -
May 11, 2017
filing date -
May 11, 2016
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
Generating a grasp pose for grasping of an object by an end effector of a robot. An image that captures at least a portion of the object is provided to a user via a user interface output device of a computing device. The user may select one or more pixels in the image via a user interface input device of the computing device. The selected pixel(s) are utilized to select one or more particular 3D points that correspond to a surface of the object in the robot's environment. A grasp pose is determined based on the particular 3D points. For example, a local plane may be fit based on the particular 3D point(s) and a grasp pose determined based on a normal of the local plane. Control commands can be provided to cause the grasping end effector to be adjusted to the grasp pose, after which a grasp is attempted.
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International Classification(s)
- H04N:PICTORIAL COMMUNICATION, e.g. TELEVISION
- G06T:IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G05B:CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTION....
- G06F:ELECTRIC DIGITAL DATA PROCESSING
- B25J:MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION ....
- G06K:RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD ....
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