{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9687983","patent":{"patent_number":"US-9687983","title":"Generating a grasp pose for grasping of an object by a grasping end effector of a robot","assignee":null,"inventors":[],"filing_date":"2016-05-11T00:00:00.000Z","publication_date":"2017-06-27T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","G06T","G06V","H04N","H04N","B25J","G05B","G05B","G05B","G06F","G06F","G06T"],"num_claims":18,"abstract":"Generating a grasp pose for grasping of an object by an end effector of a robot. An image that captures at least a portion of the object is provided to a user via a user interface output device of a computing device. The user may select one or more pixels in the image via a user interface input device of the computing device. The selected pixel(s) are utilized to select one or more particular 3D points that correspond to a surface of the object in the robot's environment. A grasp pose is determined based on the particular 3D points. For example, a local plane may be fit based on the particular 3D point(s) and a grasp pose determined based on a normal of the local plane. Control commands can be provided to cause the grasping end effector to be adjusted to the grasp pose, after which a grasp is attempted."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Generating a grasp pose for grasping of an object by a grasping end effector of a robot","description":"Generating a grasp pose for grasping of an object by an end effector of a robot. An image that captures at least a portion of the object is provided to a user via a user interface output device of a c","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9687983","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9687983","citation_suggestion":"Patentable. \"Generating a grasp pose for grasping of an object by a grasping end effector of a robot\" (US-9687983). https://patentable.app/patents/US-9687983","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9687983","json":"https://patentable.app/api/llm-context/US-9687983","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T12:35:31.862Z"}