公开(公告)号：US20230278213A1

公开(公告)日：2023-09-07

申请号：US18152980

申请日：2023-01-11

Applicant: AUTODESK, INC.

Inventor： Yoshihito Yotto KOGA ,  Sachin CHITTA ,  Heather KERRICK

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1664 ,  B25J9/1687 ,  B25J9/1612 ,  B25J9/163 ,  B25J9/161 ,  B25J9/1671 ,  B25J19/023

Abstract: Techniques are disclosed for controlling robotic systems to perform assembly tasks. In some embodiments, a robot control application receives sensor data associated with one or more parts. The robot control application applies a grasp perception model to predict one or more grasp proposals indicating regions of the one or more parts that a robotic system can grasp. The robot control application causes the robotic system to grasp one of the parts based on a corresponding grasp proposal. If the pose of the grasped part needs to be changed in order to assemble the part with one or more other parts, the robot control application determines movements of the robotic system required to re-grasp the part in a different pose. In addition, the robot control application determines movements of the robot system for assembling the part with the one or more other parts based on results of a motion planning technique.