Kinesthetic teaching of grasp parameters for grasping of objects by a grasping end effector of a robot
US10166676B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 8, 2016 |
| Grant date | Jan 1, 2019 |
| Priority date | — |
| Expiry date | Dec 4, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39532
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Some implementations are directed to methods and apparatus for determining, based on sensor data generated during physical manipulation of a robot by a user, one or more grasp parameters to associate with an object model. Some implementations are directed to methods and apparatus for determining control commands to provide to actuator(s) of a robot to attempt a grasp of an object, where those control commands are determined based on grasp parameters associated with an object model that conforms to the object. The grasp parameter(s) associated with an object model may include end effector pose(s) that each define a pose of a grasping end effector relative to the object model and/or translational force measure(s) that each indicate force applied to an object by a grasping end effector, where the force is at least partially the result of translation of an entirety of the grasping end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.