Method, system, and storage medium for selecting grasp posture of dual-arm robot

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United States of America Patent

PATENT NO 11969892
APP PUB NO 20240051126A1
SERIAL NO

18230199

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Abstract

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A method for selecting a grasp posture of a dual-arm robot includes: setting a fitness value range, an iteration quantity threshold, and a fitness function; calculating the fitness value of the population, determining whether the population is within the value range, ending an iteration if the population is within the value range or continuing to determine whether a quantity of iterations reaches the iteration quantity threshold if the population is not within the value range, ending the iteration if the quantity of iterations reaches the iteration quantity threshold or performing crossover and mutation operations if the quantity of iterations does not reach the iteration quantity threshold, and dynamically selecting a gene retention strategy based on an iteration depth and a fitness value to retain a gene; updating a gene population representing a grasping position and performing determining cyclically; and obtaining an optimal target corresponding to dual arms after the iteration.

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Patent Owner(s)

Patent OwnerAddress
BEIHANG UNIVERSITY100191 NO 37 HAIDIAN DISTRICT BEIJING XUEYUAN ROAD BEIJING CITY BEIJING CITY 100191

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Duan, Lian Beijing, CN 67 340
Gao, He Beijing, CN 18 966
Huang, Shishu Beijing, CN 1 0
Liu, Haitao Beijing, CN 376 1724
Tao, Yong Beijing, CN 52 96
Wan, Jiahao Beijing, CN 1 0
Wen, Yufang Beijing, CN 2 0

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