US 11,745,347 B2
Method for assessing the quality of a robotic grasp on 3D deformable objects
Isabella Huang, Berkeley, CA (US); Yashraj Shyam Narang, Seattle, WA (US); Clemens Eppner, Seattle, WA (US); Balakumar Sundaralingam, Milpitas, CA (US); Miles Macklin, Auckland (NZ); Tucker Ryer Hermans, Salt Lake City, UT (US); and Dieter Fox, Seattle, WA (US)
Assigned to NVIDIA CORP., Santa Clara, CA (US)
Filed by NVIDIA Corp., Santa Clara, CA (US)
Filed on Mar. 19, 2021, as Appl. No. 17/207,200.
Prior Publication US 2022/0297297 A1, Sep. 22, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1669 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1671 (2013.01); B25J 13/082 (2013.01); B25J 13/085 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for determining the position, motion, and force settings for a robotic manipulator, the method comprising:
classifying a deformable object model as one of a fully solid object model, ring-like object model, open container object model, and hollow object model;
for at least one grasping model of a plurality of candidate grasping models of the deformable object:
generating a simulation of a response of the deformable object to the grasping model, the simulation comprising:
initializing the deformable object model at rest atop a horizontal plane;
disabling collisions with the horizontal plane;
generating a set of candidate grasps on an aligned bounding box; and
recording pre-contact nodal positions and element stresses of the deformable object model;
obtaining, from the simulation, grasp performance metrics for stress, deformation controllability, and instability of the response to the grasping model; and
correlating the grasp performance metrics with robotic grasping features of the robotic manipulator;
identifying a conforming model of the grasping models, the conforming model comprising robotic grasp features of the robotic manipulator that meet manipulation constraints of the deformable object; and
operating a robotic manipulator path planner to transform the robotic grasp features into the position, motion, and force settings for the robotic manipulator.