Robot teaching by human demonstration

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United States of America Patent

PATENT NO 11813749
APP PUB NO 20210316449A1
SERIAL NO

16843185

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Abstract

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A method for teaching a robot to perform an operation based on human demonstration with images from a camera. The method includes a teaching phase where a 2D or 3D camera detects a human hand grasping and moving a workpiece, and images of the hand and workpiece are analyzed to determine a robot gripper pose and positions which equate to the pose and positions of the hand and corresponding pose and positions of the workpiece. Robot programming commands are then generated from the computed gripper pose and position relative to the workpiece pose and position. In a replay phase, the camera identifies workpiece pose and position, and the programming commands cause the robot to move the gripper to pick, move and place the workpiece as demonstrated. A teleoperation mode is also disclosed, where camera images of a human hand are used to control movement of the robot in real time.

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Patent Owner(s)

  • FANUC CORPORATION

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Kato, Tetsuaki Fremont, US 110 1077
Wang, Kaimeng Fremont, US 30 69

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