Cooperative grasping feature-based grasping control method and device, equipment and medium

By acquiring tactile and mechanical data of the target object, collaborative grasping features and feature weights are generated, a grasping model is constructed, and grasping force and posture are dynamically adjusted in combination with real-time feedback data. This solves the problem of independent tactile and mechanical perception during robot grasping, and achieves precise grasping of complex objects and improved safety.

CN120941383BActive Publication Date: 2026-09-11PING AN TECH (SHENZHEN) CO LTD
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Patent Information

Application Number
CN202511112514.0
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-08-08
Publication Date
2026-09-11
Estimated Expiration
2045-08-08

AI Technical Summary

Technical Problem

In existing technologies, tactile and mechanical perception are independent during robot grasping, lacking a collaborative processing mechanism. This results in an inability to dynamically adjust grasping force and posture, an inability to adapt to the complex and diverse physical characteristics of objects, and a risk of grasping failure or object damage.

Method used

By acquiring the surface tactile data, interactive mechanical data, and physical parameters of the target object, collaborative grasping features and feature weight vectors are generated, a grasping model is constructed, and a grasping control sequence and collaborative adaptation coefficients are generated through constraint optimization by combining the initial grasping strategy and real-time tactile feedback data, and the grasping force and posture are dynamically adjusted.

Benefits of technology

It enables precise grasping and control of different objects, solves the problem of inflexible grasping response, improves dynamic adaptation and fine adjustment capabilities, and reduces the risk of damage.

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Abstract

The application relates to the technical field of artificial intelligence, can be applied to business scenarios such as pension services, financial technology and medical health, and discloses a grabbing control method and device based on cooperative grabbing features, equipment and a medium, which comprise the following steps: collecting surface haptic data, interactive mechanical data and physical parameters of a target object, generating cooperative grabbing features and a feature weight vector, constructing a grabbing model in combination with historical grabbing data, and determining an initial grabbing strategy; in combination with the initial grabbing strategy and real-time haptic feedback data, generating a grabbing control sequence and a cooperative adaptation coefficient through constraint optimization, executing a grabbing operation and monitoring real-time feedback, dynamically adjusting grabbing intensity and posture according to deviation and the cooperative adaptation coefficient, and realizing precise control. Through the construction of cooperative grabbing features and a grabbing model, the application fuses real-time feedback and control strategies, solves the problem of inflexible grabbing response in the prior art, realizes dynamic self-adaptation and fine adjustment in the grabbing process of different objects, and reduces damage risk.
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