Verfahren und Computerprogrammprodukte zum Schätzen von Greifmustern und Roboter damit

Details

Veröffentlichungs-Nr.

EP2614935

Aktenzeichen

EP13151028

Anmeldetag

11. Januar 2013

Veröffentlichung

1. März 2017

Erteilung

1. März 2017

Rechtsraum

EP

IPC

B25J9/16

Abstract

Methods and computer-program products for evaluating grasp patterns for use by a robot are disclosed. In one embodiment, a method of evaluating grasp patterns includes selecting an individual grasp pattern from a grasp pattern set, establishing a thumb-up vector, and simulating the motion of the manipulator and the end effector according to the selected individual grasp pattern, wherein each individual grasp pattern of the grasp pattern set corresponds to motion for manipulating a target obj ect. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. Robots utilizing the methods and computer-program products for evaluating grasp patterns are also disclosed.

Anmelder

Firmen

Toyota Jidosha Kabushiki Kaisha
CARNEGIE MELLON UNIVERSITY
Toyota Motor Engineering & Manufacturing North America, Inc.

Land

🇯🇵 Japan

Fachgebiete