Methods and computer-program products for evaluating grasp patterns, and robots incorporating the same
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United States of America Patent
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Jun 28, 2016
Grant Date -
Jun 25, 2015
app pub date -
Mar 6, 2015
filing date -
Jan 13, 2012
priority date (Note) -
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Abstract
Methods and computer-program products for evaluating grasp patterns for use by a robot are disclosed. In one embodiment, a method of evaluating grasp patterns includes selecting an individual grasp pattern from a grasp pattern set, establishing a thumb-up vector, and simulating the motion of the manipulator and the end effector according to the selected individual grasp pattern, wherein each individual grasp pattern of the grasp pattern set corresponds to motion for manipulating a target object. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. Robots utilizing the methods and computer-program products for evaluating grasp patterns are also disclosed.
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