US 11,878,419 B2
Affordance-aware, multi-resolution, free-form object manipulation planning
David Israel Gonzalez Aguirre, Hillsboro, OR (US); Javier Felip Leon, Hillsboro, OR (US); Javier Sebastian Turek, Beaverton, OR (US); Javier Perez-Ramirez, North Plains, OR (US); and Ignacio J. Alvarez, Portland, OR (US)
Assigned to Intel Corporation, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Jun. 26, 2020, as Appl. No. 16/913,348.
Prior Publication US 2020/0324409 A1, Oct. 15, 2020
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1661 (2013.01) [B25J 9/1612 (2013.01); B25J 19/023 (2013.01)] 25 Claims
OG exemplary drawing
20. A computing system comprising:
one or more sensors to generate sensor data, the sensor data to include image data;
a processor coupled to the one or more sensors; and
a memory including a set of executable program instructions, which when executed by the processor, cause the computing system to:
generate a semantic labelled image based on the image data, wherein the semantic labelled image is to identify a shape of an object and a semantic label of the object;
associate a first set of actions with the object based on the semantic labelled image, wherein the first set of actions are possible physical manipulations of the object;
determine a second set of actions that are executable with one or more end effectors; and
generate a plan based on a subset of actions that comprises an intersection of the first set of actions and the second set of actions to satisfy a command from a user through actuation of the one or more end effectors, wherein the second set of actions are to be associated with the command.