Stable grasp point selection for robotic grippers with machine vision and ultrasound beam forming
US9889564B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 8, 2015 |
| Grant date | Feb 13, 2018 |
| Priority date | — |
| Expiry date | Jul 8, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40053
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Technologies are generally described for grasp point selection for robotic grippers through machine vision and ultrasound beam based deformation. The grasp point selection may aim to increase a probability that the grasp points on an object behave in a substantially similar way when a robotic gripper executes a corresponding grasp on the object. According to some examples, an outline of an object may be extracted from a three-dimensional (3D) image of the object and a set of points may be selected as candidate grasp points from the outline based on the candidate grasp points' potential to achieve force closure. One or more ultrasound transducers may be used to exert a local force on the candidate grasp points through an ultrasound beam and resulting local deformations may be recorded. Final grasp points may be selected based on having similar response to the force applied by the ultrasound transducers.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.