GENERATING A GRASP POSE FOR GRASPING OF AN OBJECT BY A GRASPING END EFFECTOR OF A ROBOT

Generating a grasp pose for grasping of an object by an end effector of a robot. An image that captures at least a portion of the object is provided to a user via a user interface output device of a computing device. The user may select one or more pixels in the image via a user interface input devi...

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1. Verfasser:	Prats Mario
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING ELECTRIC COMMUNICATION TECHNIQUE ELECTRIC DIGITAL DATA PROCESSING ELECTRICITY HAND TOOLS HANDLING RECORD CARRIERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MANIPULATORS PERFORMING OPERATIONS PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION PORTABLE POWER-DRIVEN TOOLS PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS TRANSPORTING
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Beschreibung
Zusammenfassung:	Generating a grasp pose for grasping of an object by an end effector of a robot. An image that captures at least a portion of the object is provided to a user via a user interface output device of a computing device. The user may select one or more pixels in the image via a user interface input device of the computing device. The selected pixel(s) are utilized to select one or more particular 3D points that correspond to a surface of the object in the robot's environment. A grasp pose is determined based on the particular 3D points. For example, a local plane may be fit based on the particular 3D point(s) and a grasp pose determined based on a normal of the local plane. Control commands can be provided to cause the grasping end effector to be adjusted to the grasp pose, after which a grasp is attempted.