Method, system, and storage medium for selecting grasp posture of dual-arm robot
US11969892B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 4, 2023 |
| Grant date | Apr 30, 2024 |
| Priority date | — |
| Expiry date | Aug 4, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N3/12
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for selecting a grasp posture of a dual-arm robot includes: setting a fitness value range, an iteration quantity threshold, and a fitness function; calculating the fitness value of the population, determining whether the population is within the value range, ending an iteration if the population is within the value range or continuing to determine whether a quantity of iterations reaches the iteration quantity threshold if the population is not within the value range, ending the iteration if the quantity of iterations reaches the iteration quantity threshold or performing crossover and mutation operations if the quantity of iterations does not reach the iteration quantity threshold, and dynamically selecting a gene retention strategy based on an iteration depth and a fitness value to retain a gene; updating a gene population representing a grasping position and performing determining cyclically; and obtaining an optimal target corresponding to dual arms after the iteration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.