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1. (WO2018160163) SYSTEM AND METHOD FOR DETERMINING GRASPING POSITIONS FOR TWO-HANDED GRASPS OF INDUSTRIAL OBJECTS

Pub. No.:    WO/2018/160163    International Application No.:    PCT/US2017/019890
Publication Date: Sat Sep 08 01:59:59 CEST 2018 International Filing Date: Wed Mar 01 00:59:59 CET 2017
IPC: B25J 9/16
Applicants: SIEMENS PRODUCT LIFECYCLE MANAGEMENT SOFTWARE INC.
Inventors: ARISOY, Erhan
REN, Guannan
BLUMENFELD, Rafael
RASCHKE, Ulrich
MUSUVATHY, Suraj Ravi
Title: SYSTEM AND METHOD FOR DETERMINING GRASPING POSITIONS FOR TWO-HANDED GRASPS OF INDUSTRIAL OBJECTS
Abstract:
A system (100) and method (300) is provided for determining grasping positions for two- handed grasps of industrial objects. The system may include a processor configured to determine a three dimensional (3D) voxel grid (136) for a 3D model (150) of a target object (120). In addition, the processor may be configured to determine at least one pair of spaced apart grasping positions (126, 128) on the target object at which the target object is capable of being grasped with two hands at the same time based on processing the 3D voxel grid for the target object with a neural network (138) trained to determine grasping positions for two-handed grasps of target objects using training data (140). Such training data may include 3D voxel grids (142) of a plurality of 3D models (144) of training objects (206) and grasping data (146) including corresponding pairs of spaced-apart grasping positions (208) for two-handed grasps of the training objects. Also, the processor may be configured to provide output data (124) that specifies the determined grasping positions (126, 128) on the target object for two-handed grasps.