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1. 发明申请

US20060012198A1 System and method for computing grasps for a robotic hand with a palm 审中-公开
标题翻译：用手掌计算机器手的掌握的系统和方法
公开(公告)号：US20060012198A1
公开(公告)日：2006-01-19
申请号：US11104822
申请日：2005-04-12
申请人： Gregory Hager , Eliot Wegbreit
发明人： Gregory Hager , Eliot Wegbreit
IPC分类号： B66C1/00
CPC分类号： B25J9/1612 , B25J15/0009
摘要： A system and method for automatically computing desirable palm grasp configurations of an object by a robotic hand is disclosed. A description of the object's surface is obtained. A grasp configuration of a robotic hand comprising a palm and one or more fingers is selected, which specifies a hand configuration and joint variables of the hand, and a plurality of contact points on the object's surface for the palm and fingers. The coefficient of friction at each of the contact points is determined, and a description of one or more external wrenches to which may apply to the object is acquired. The ability of the robotic hand to hold the object against the external wrenches in the selected configuration is then computed. In some embodiments, a plurality of grasp configurations may be compared to determine which are the most desirable. In other embodiments, the space of hand configurations, or the smaller space of palm contact configurations, may be searched to find the most desirable grasp configurations.
摘要翻译：公开了一种用于通过机器人手来自动计算物体的所需掌握配置的系统和方法。获得对象表面的描述。选择包括手掌和一个或多个手指的机器人手的抓握结构，其指定手的配置和关节变量以及用于手指和手指的物体表面上的多个接触点。确定每个接触点处的摩擦系数，并且获得可应用于物体的一个或多个外部扳手的描述。然后计算机器人手在所选配置中将对象抵靠外部扳手的能力。在一些实施例中，可以比较多个抓握配置以确定哪个最理想。在其他实施例中，可以搜索手配置的空间或较小的手掌触点配置的空间以找到最理想的抓握配置。

2. 发明申请

US20050128197A1 Probable reconstruction of surfaces in occluded regions by computed symmetry 有权
标题翻译：通过计算对称可能重建闭塞区域的表面
公开(公告)号：US20050128197A1
公开(公告)日：2005-06-16
申请号：US11009314
申请日：2004-12-10
申请人： Sebastian Thrun , Eliot Wegbreit
发明人： Sebastian Thrun , Eliot Wegbreit
IPC分类号： G06K9/52 , G06T15/40
CPC分类号： G01B21/20 , G06K9/52 , G06T7/55 , G06T7/68 , G06T2207/10012 , G06T2207/20116
摘要： A system for obtaining a probable 3D map of an occluded surface of an object is provided. The system receives an initial 3D map of a visible surface of the object and identifies one or more symmetries of the initial 3D map. The system computes the probable 3D map of the occluded surface by projecting points of the initial 3D map into occluded regions of space according to the identified symmetries. The system can also comprise an imager for obtaining the initial 3D map. The actual occluded surface cannot be known with absolute certainly because it is occluded; however, the computed 3D map will closely resemble the actual occluded surface in many instances because most objects possess one or more symmetries and the computed 3D map is based on such symmetries that are identified in the initial 3D map of the object.
摘要翻译：提供了一种用于获得物体的遮挡表面的可能的3D地图的系统。系统接收对象的可见表面的初始3D地图，并识别初始3D地图的一个或多个对称性。该系统根据所确定的对称性，将初始3D图的点投影到空间的闭塞区域中来计算遮挡表面的可能3D图。该系统还可以包括用于获得初始3D地图的成像器。实际的封闭表面绝对不能被绝对知道，因为它被遮挡; 然而，在许多情况下，计算的3D地图将与实际的遮挡表面非常相似，因为大多数物体具有一个或多个对称性，并且所计算的3D地图基于在对象的初始3D地图中识别的对称性。

3. 发明申请

US20060012197A1 Robotic hand with extendable palm 有权
标题翻译：机器人手与可伸缩手掌
公开(公告)号：US20060012197A1
公开(公告)日：2006-01-19
申请号：US11019808
申请日：2004-12-20
申请人： Perry Anderson , J. Alcorta , Scott DeWinter , Joel Jensen , J. Salisbury , Eliot Wegbreit
发明人： Perry Anderson , J. Alcorta , Scott DeWinter , Joel Jensen , J. Salisbury , Eliot Wegbreit
IPC分类号： B66C1/00
CPC分类号： B25J15/08 , B25J15/0009 , B25J15/0028
摘要： A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.
摘要翻译：机器人手包括具有手指和手掌的基座。手指定义工作量。手能够通过改变从手掌到工作体积的距离来掌握手指和手掌之间的物体。通过将手掌向工作体积移动或通过将工作体积朝向手掌移动，可以实现不同的距离。移动手掌的机器人手包括将手掌从基部延伸到工作体积的致动器。相对于手掌移动工作体积的机械手将手指安装到被配置为相对于底座平移的公共手指支撑单元。

4. 发明授权

US5280474A Scalable processor to processor and processor-to-I/O interconnection network and method for parallel processing arrays 失效
标题翻译：可扩展处理器到处理器和处理器到I / O互连网络和并行处理阵列的方法
公开(公告)号：US5280474A
公开(公告)日：1994-01-18
申请号：US461492
申请日：1990-01-05
申请人： John R. Nickolls , John Zapisek , Won S. Kim , Jeffery C. Kalb , W. Thomas Blank , Eliot Wegbreit , Kevin Van Horn
发明人： John R. Nickolls , John Zapisek , Won S. Kim , Jeffery C. Kalb , W. Thomas Blank , Eliot Wegbreit , Kevin Van Horn
IPC分类号： G06F15/173 , G06F15/80 , H04L12/56
CPC分类号： G06F15/17393
摘要： A massively parallel computer system is disclosed having a global router network in which pipeline registers are spatially distributed to increase the messaging speed of the global router network. The global router network includes an expansion tap for processor to I/O messaging so that I/O messaging bandwidth matches interprocessor messaging bandwidth. A route-opening message packet includes protocol bits which are treated homogeneously with steering bits. The route-opening packet further includes redundant address bits for imparting a multiple-crossbars personality to router chips within the global router network. A structure and method for spatially supporting the processors of the massively parallel system and the global router network are also disclosed.
摘要翻译：公开了一种具有全局路由器网络的大规模并行计算机系统（500），其中流水线寄存器在空间上分布以增加全局路由器网络的消息传送速度。全局路由器网络包括用于处理器到I / O（1700）消息传递的扩展抽头，以便I / O消息带宽与处理器间消息带宽相匹配。路由开启消息分组包括与转向比特均匀对待的协议比特。路由开启分组还包括冗余地址比特，用于向全球路由器网络内的路由器芯片赋予多交叉形状个性。还公开了用于空间上支持大规模并行系统和全局路由器网络的处理器（700）的结构和方法。

5. 发明申请

US20060285755A1 System and method for recognition in 2D images using 3D class models 有权
标题翻译：使用3D类模型识别2D图像的系统和方法
公开(公告)号：US20060285755A1
公开(公告)日：2006-12-21
申请号：US11452815
申请日：2006-06-13
申请人： Gregory Hager , Eliot Wegbreit
发明人： Gregory Hager , Eliot Wegbreit
IPC分类号： G06K9/62
CPC分类号： G06K9/00208 , G06F17/30256 , G06K9/00214
摘要： A system and method for recognizing instances of classes in a 2D image using 3D class models and for recognizing instances of objects in a 2D image using 3D class models. The invention provides a system and method for constructing a database of 3D class models comprising a collection of class parts, where each class part includes part appearance and part geometry. The invention also provides a system and method for matching portions of a 2D image to a 3D class model. The method comprises identifying image features in the 2D image; computing an aligning transformation between the class model and the image; and comparing, under the aligning transformation, class parts of the class model with the image features. The comparison uses both the part appearance and the part geometry.
摘要翻译：一种用于使用3D类模型识别2D图像中的类的实例并使用3D类模型来识别2D图像中的对象的实例的系统和方法。本发明提供了一种用于构建3D类模型的数据库的系统和方法，其包括类零件的集合，其中每个类零件包括零件外观和零件几何形状。本发明还提供了一种将2D图像的部分与3D类模型相匹配的系统和方法。该方法包括识别2D图像中的图像特征; 计算类模型和图像之间的对齐变换; 并且在对齐变换下，将类模型的类部分与图像特征进行比较。比较使用零件外观和零件几何。

6. 发明申请

US20050286767A1 System and method for 3D object recognition using range and intensity 审中-公开
标题翻译：使用范围和强度的3D对象识别的系统和方法
公开(公告)号：US20050286767A1
公开(公告)日：2005-12-29
申请号：US11159660
申请日：2005-06-22
申请人： Gregory Hager , Eliot Wegbreit
发明人： Gregory Hager , Eliot Wegbreit
IPC分类号： G06K9/00 , G06K9/46
CPC分类号： G06K9/00208 , G06K9/00214 , G06K9/4671 , G06K9/6211
摘要： A system and method for performing object and class recognition that allows for wide changes of viewpoint and distance of objects is disclosed. The invention provides for choosing pose-invariant interest points of a three-dimensional (3D) image, and for computing pose-invariant feature descriptors of the image. The system and method also allows for the construction of three-dimensional (3D) object and class models from the pose-invariant interest points and feature descriptors of previously obtained scenes. Interest points and feature descriptors of a newly acquired scene may be compared to the object and/or class models to identify the presence of an object or member of the class in the new scene.
摘要翻译：公开了一种用于执行允许物体的视点和距离的广泛变化的对象和类识别的系统和方法。本发明提供了选择三维（3D）图像的姿态不变兴趣点，以及用于计算图像的姿态不变特征描述符。该系统和方法还允许从先前获得的场景的姿态不变兴趣点和特征描述符构建三维（3D）对象和类模型。可以将新获取的场景的兴趣点和特征描述符与对象和/或类模型进行比较，以识别新场景中的对象或类的成员的存在。

7. 发明授权

US5598408A Scalable processor to processor and processor to I/O interconnection network and method for parallel processing arrays 失效
标题翻译：可扩展处理器到处理器和处理器到I / O互连网络和并行处理阵列的方法
公开(公告)号：US5598408A
公开(公告)日：1997-01-28
申请号：US182250
申请日：1994-01-14
申请人： John R. Nickolls , John Zapisek , Won S. Kim , Jeffrey C. Kalb , W. Thomas Blank , Eliot Wegbreit , Kevin Van Horn
发明人： John R. Nickolls , John Zapisek , Won S. Kim , Jeffrey C. Kalb , W. Thomas Blank , Eliot Wegbreit , Kevin Van Horn
IPC分类号： G06F15/173 , G06F15/80 , H04Q11/00
CPC分类号： G06F15/17393
摘要： A massively parallel computer system is disclosed having a global router network in which pipeline registers are spatially distributed to increase the messaging speed of the global router network. The global router network includes an expansion tap for processor to I/O messaging so that I/O messaging bandwidth matches interprocessor messaging bandwidth. A route-opening message packet includes protocol bits which are treated homogeneously with steering bits. The route-opening packet further includes redundant address bits for imparting a multiple-crossbars personality to router chips within the global router network. A structure and method for spatially supporting the processors of the massively parallel system and the global router network are also disclosed.
摘要翻译：公开了一种具有全局路由器网络的大规模并行计算机系统，其中流水线寄存器在空间上分布以增加全局路由器网络的消息传送速度。全局路由器网络包括用于处理器到I / O消息传递的扩展抽头，以便I / O消息带宽与处理器间消息带宽相匹配。路由开启消息分组包括与转向比特均匀对待的协议比特。路由开启分组还包括冗余地址比特，用于向全球路由器网络内的路由器芯片赋予多交叉形状个性。还公开了用于空间支持大规模并行系统和全局路由器网络的处理器的结构和方法。

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