System and method for determining a grasping hand model
US12377549B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 6, 2022 |
| Grant date | Aug 5, 2025 |
| Priority date | — |
| Expiry date | Aug 15, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39546
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Method for determining a grasping hand model suitable for grasping an object by receiving an image including at least one object; obtaining an object model estimating a pose and shape of the object from the image of the object; selecting a grasp class from a set of grasp classes by means of a neural network, with a cross entropy loss, thus, obtaining a set of parameters defining a coarse grasping hand model; refining the coarse grasping hand model, by minimizing loss functions referring to the parameters of the hand model for obtaining an operable grasping hand model while minimizing the distance between the finger of the hand model and the surface of the object and preventing interpenetration; and obtaining a mesh of the hand represented by the enhanced set of parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.