System and method for determining grasping positions for two-handed grasps of industrial objects
US11279023B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 28, 2017 |
| Grant date | Mar 22, 2022 |
| Priority date | — |
| Expiry date | Nov 3, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40442
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A system and method is provided for determining grasping positions for two-handed grasps of industrial objects. The system may include a processor configured to determine a three dimensional (3D) voxel grid for a 3D model of a target object. In addition, the processor may be configured to determine at least one pair of spaced apart grasping positions on the target object at which the target object is capable of being grasped with two hands at the same time based on processing the 3D voxel grid for the target object with a neural network trained to determine grasping positions for two-handed grasps of target objects using training data. Such training data may include 3D voxel grids of a plurality of 3D models of training objects and grasping data including corresponding pairs of spaced-apart grasping positions for two-handed grasps of the training objects. Also, the processor may be configured to provide output data that specifies the determined grasping positions on the target object for two-handed grasps.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.