Patent ID: 9014857
Filing Date: 2015-04-21
Classification: B25J

Abstract:
1. A method for generating grasp patterns for use by a robot, the method comprising: generating, using a processor, a plurality of approach rays associated with a target object, wherein each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object; generating, using the processor, at least one grasp pattern for each approach ray of the plurality of approach rays to generate a grasp pattern set of the target object associated with the plurality of approach rays; calculating a grasp quality score for each individual grasp pattern of the grasp pattern set; comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold; selecting individual grasp patterns of the grasp pattern set having an individual grasp quality score that is greater than the grasp quality threshold; providing the selected individual grasp patterns to the robot; and manipulating the target object by the robot based on at least one selected individual grasp pattern of the plurality of selected individual grasp patterns.