{"number":"US12697732B2","kindCode":"B2","documentType":"grant","title":{"original":"Sensor-based adaptation for manipulation of deformable workpieces","english":"Sensor-based adaptation for manipulation of deformable workpieces"},"abstract":{"original":"Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing deformation modeling with edge-to-edge constraints. One of the methods includes computing edge-to-edge constraints that match one or more edges in point cloud data to one or more edges in a nominal representation of a workpiece. A current estimate of the deformation data is repeatedly updated according to the computed edge-to-edge constraints. A robotic manipulation task is then performed according to the generated deformation data.","english":"Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing deformation modeling with edge-to-edge constraints. One of the methods includes computing edge-to-edge constraints that match one or more edges in point cloud data to one or more edges in a nominal representation of a workpiece. A current estimate of the deformation data is repeatedly updated according to the computed edge-to-edge constraints. A robotic manipulation task is then performed according to the generated deformation data."},"applicants":["Intrinsic Innovation LLC"],"inventors":["Martin Bokeloh","Martina Marek","Stefan Hinterstoisser","Olivier Pauly","Hauke Heibel"],"filingDate":"2023-12-12","publicationDate":"2026-08-04","grantDate":"2026-08-04","verifiedWithOffice":true,"pdfUrl":"https://downloadpatent.com/pdf/US12697732B2.pdf","pages":{"en":"https://downloadpatent.com/patent/US12697732B2","zh-Hant":"https://downloadpatent.com/zh-Hant/patent/US12697732B2","ja":"https://downloadpatent.com/ja/patent/US12697732B2"}}