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AssigneeDassault Systemes Americas Corp.
InventorsQuentin Bourret, Pierre-Olivier Lemieux, Julie Charland, Rachid Aissaoui
Estimating the term…
An embodiment receives models of an object and an environment and an indication of position of a digital human model (DHM). An oriented bounding box (with a plurality of faces) surrounding the model of the object is determined and, for each of the plurality of faces, a candidate grasp location, a candidate grasp orientation, and a candidate grasp type is determined. From amongst the plurality of faces, one or more graspable faces is determined based on: the candidate grasp locations, the candidate grasp orientations, the environment model, and dimensions of each face. Then, an optimal graspable face is identified based on a hierarchy and the position of the DHM. An inverse kinematic solver determines position and orientation, i.e., grasp, of an end effector of the DHM grasping the object based on the candidate grasp location, candidate grasp orientation, and candidate grasp type of the optimal graspable face.
A computer-implemented method of determining position and orientation of an end effector of a digital human model (DHM) for grasping an object, the method comprising:
A system for determining position and orientation of an end effector of a digital human model (DHM) for grasping an object, the system comprising:
A non-transitory computer program product for determining position and orientation of an end effector of a digital human model (DHM) for grasping an object, the computer program product executed by a server in communication across a network with one or more client and comprising:
Dependencies are inferred from the claim text.