Nancy S Pollard

US Patent:

20130184870, Jul 18, 2013

Filed:

Jan 13, 2012

Appl. No.:

13/350162

Inventors:

Yasuhiro Ota - Union KY, US
Junggon Kim - Pittsburgh PA, US
James J. Kuffner - Mountain View CA, US
Nancy S. Pollard - Pittsburgh PA, US

International Classification:

B25J 9/10
B25J 15/08
B25J 15/00

US Classification:

700262, 700245, 901 2, 901 31

Abstract:

Methods and computer program products for generating robot grasp patterns are disclosed. In one embodiment, a method for generating robot grasp patterns includes generating a plurality of approach rays associated with a target object. Each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object. The method further includes generating at least one grasp pattern for each approach ray to generate a grasp pattern set of the target object, calculating a grasp quality score for each individual grasp pattern of the grasp pattern set, and comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold. The method further includes selecting individual grasp patterns of the grasp pattern set having a grasp quality score that is greater than the grasp quality threshold, and providing the selected individual grasp patterns to the robot for on-line manipulation of the target object.