Title:
SYNERGIES BETWEEN PICK AND PLACE: TASK-AWARE GRASP ESTIMATION
Document Type and Number:
WIPO Patent Application WO/2024/058616
Kind Code:
A1
Abstract:
Privided are systems, methods, and apparatuses for controlling a robot including a manipulator, including: determining three-dimensional (3D) geometry information about a target object based on an image of the target object; determining 3D geometry information about a scene in which the target object is to be placed based on at least one image of the scene; obtaining affordance information by providing the 3D geometry information about the target object and the 3D geometry information about the scene to at least one neural network model; commanding the robot to grasp the target object using the manipulator according to a grasp orientation corresponding to the affordance information; and commanding the robot to position the manipulator according to a placement direction corresponding to the affordance information in order to place the target object at a location in the scene.
Inventors:
CHAVAN DAFLE NIKHIL NARSINGH (US)
VASILOPOULOS VASILEIOS (US)
AGRAWAL SHUBHAM (US)
HUH JINWOOK (US)
GARG SUVEER (US)
PIACENZA PEDRO (US)
KASAHARA ISAAC HISANO (US)
ENGIN KAZIM SELIM (US)
HE ZHANPENG (US)
SONG SHURAN (US)
ISLER IBRAHIM VOLKAN (US)
VASILOPOULOS VASILEIOS (US)
AGRAWAL SHUBHAM (US)
HUH JINWOOK (US)
GARG SUVEER (US)
PIACENZA PEDRO (US)
KASAHARA ISAAC HISANO (US)
ENGIN KAZIM SELIM (US)
HE ZHANPENG (US)
SONG SHURAN (US)
ISLER IBRAHIM VOLKAN (US)
Application Number:
PCT/KR2023/013966
Publication Date:
March 21, 2024
Filing Date:
September 15, 2023
Export Citation:
Assignee:
SAMSUNG ELECTRONICS CO LTD (KR)
International Classes:
B25J9/16; B25J19/02; G06T7/50; G06T17/00
Domestic Patent References:
| WO2022119962A1 | 2022-06-09 |
Foreign References:
| JP2021061014A | 2021-04-15 | |||
| US20190022863A1 | 2019-01-24 | |||
| US9616568B1 | 2017-04-11 | |||
| KR102067878B1 | 2020-01-17 |
Attorney, Agent or Firm:
Y.P.LEE, MOCK & PARTNERS (KR)
Download PDF: