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公开(公告)号:US20230294276A1
公开(公告)日:2023-09-21
申请号:US18148548
申请日:2022-12-30
Applicant: Nvidia Corporation
Inventor: Yu-Wei Chao , Yu Xiang , Wei Yang , Dieter Fox , Chris Paxton , Balakumar Sundaralingam , Maya Cakmak
IPC: B25J9/16
CPC classification number: B25J9/1605 , B25J9/163 , G05B2219/39001
Abstract: Approaches presented herein provide for simulation of human motion for human-robot interactions, such as may involve a handover of an object. Motion capture can be performed for a hand grasping and moving an object to a location and orientation appropriate for a handover, without a need for a robot to be present or an actual handover to occur. This motion data can be used to separately model the hand and the object for use in a handover simulation, where a component such as a physics engine may be used to ensure realistic modeling of the motion or behavior. During a simulation, a robot control model or algorithm can predict an optimal location and orientation to grasp an object, and an optimal path to move to that location and orientation, using a control model or algorithm trained, based at least in part, using the motion models for the hand and object.