Robot Grasp Pattern Evaluation Using Thumb-Up Vector
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Solution Overview
Problem
Robots often grasp and move objects in unnatural ways, which can be frightening or unsettling to observers and may lead to collisions or object instability, as they prioritize efficiency over human-like motion.
Innovation Solution
A method and computer-program product that evaluate grasp patterns by simulating the motion of a robot's manipulator and end effector using a thumb-up vector, excluding patterns where the vector direction exceeds predetermined thresholds to ensure natural, human-like movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robots prioritize efficient and quick object manipulation, then productivity is improved, but the robot movement becomes unnatural and may cause collisions or object instability
Solution Approach 1:
The system performs preliminary evaluation of grasp patterns by simulating robot motion and analyzing thumb-up vector directions before actual execution. This preliminary action filters out unnatural grasp patterns in advance, allowing the robot to select only those patterns that produce natural human-like motion, thereby resolving the contradiction between efficiency and naturalness.
2Productivity
If robots use efficient grasp patterns, then productivity is improved, but harmful factors increase due to unnatural movement causing fear or wariness in observers
Solution Approach 1:
The system converts the potentially harmful effect of unnatural robot motion into a benefit by using the thumb-up vector analysis to identify and select grasp patterns that produce natural human-like motion. This transforms the problem of unnatural movement into an opportunity to enhance observer comfort and acceptance while maintaining operational efficiency.
3Reliability
If robots evaluate and filter grasp patterns to achieve natural movement, then movement naturalness is improved, but device complexity increases due to additional evaluation steps
Solution Approach 1:
The system changes the evaluation parameter from complex full-motion simulation to a simplified thumb-up vector direction analysis. By focusing on this specific geometric parameter, the system achieves natural motion selection without requiring complex computational models, thereby reducing device complexity while maintaining movement naturalness.
Data Source
AI summary
Methods and computer-program products for evaluating grasp patterns for use by a robot are disclosed. In one embodiment, a method of evaluating grasp patterns includes selecting an individual grasp pattern from a grasp pattern set, establishing a thumb-up vector, and simulating the motion of the manipulator and the end effector according to the selected individual grasp pattern, wherein each individual grasp pattern of the grasp pattern set corresponds to motion for manipulating a target object. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. Robots utilizing the methods and computer-program products for evaluating grasp patterns are also disclosed.