Patent Document ID: 9889564
Application ID: 14794648
Patent Status: 1

Claim One:
1. A method to provide grasp point selection for robotic grippers, the method comprising: obtaining a three-dimensional image of an object to be grasped by a robotic gripper; determining two or more sets of candidate grasp points on two or more surfaces of the object based on the three-dimensional image, wherein determining the two or more sets of candidate grasp points on the two or more surfaces of the object comprises: extracting an outline of the object from the three-dimensional image; and extracting the two or more sets of candidate grasp points on the two or more surfaces of the object based on the outline, wherein a sum of surface normal vectors for each candidate grasp point in each set of the two or more sets of candidate grasp points is zero; exerting a local force on each candidate grasp point in the two or more sets of candidate grasp points such that a local deformation is caused at or near each candidate grasp point; and selecting a set of grasp points from the two or more sets of candidate grasp points based on a response of a surface area at or near each candidate grasp point to the exerted local force.