Patent ID: 6229552
Filing Date: 2001-05-08
Classification: G06T

Abstract:
In a data processing system having a display, a method for generating a collision free path for grasping and carrying a movable object from an initial location to a desired goal location on the display for a human or human-like figure having grasps and grasping arms, based on task level commands, which method comprises:(a) specifying a geometric model of the human or human-like figure;(b) specifying a kinematic model of the human or human-like figure including joint constraints;(c) specifying a geometry of an environment in which object manipulation motion is to take place;(d) specifying a desired goal location in the environment of the object to be manipulated;(e) identifying locations within the environment at which the human or human-like figure can grasp the object to be manipulated and identifying and enumerating all sets of grasps and grasping arms which can be achieved without collision;(f) generating a collision-free path for the object to be manipulated and the human or human-like figure to move the object to be manipulated to the desired goal location, using the geometric model of the human or human-like figure, the kinematic model of the human or human-like figure, the geometry of the environment and a search algorithm(1) to generate a set of non-intersecting paths for motion of the human or human-like figure and the object to be manipulated,(2) to identify locations at which the human or human-like figure may grasp objects to be manipulated, and(3) to verify that at each said location the object may be grasped by a permitted grasp;(g) generating movement as a series of configurations of grasps, grasping arms and the object to be manipulated on the display of the human or human-like figure to grasp the object at one of the identified locations; and(h) generating movement as a series of configurations of grasps, grasping arms and the object to be manipulated on the display of the human or human-like figure to move the object to the specified goal location.