Title:
情報処理装置、制御方法、ロボットシステム、コンピュータプログラム、及び記憶媒体
Document Type and Number:
Japanese Patent JP7154815
Kind Code:
B2
Abstract:
The information processing apparatus includes an estimation unit to estimate information indicating a holding success possibility from an image of a plurality of the target objects by using a pre-trained model that estimates the information indicating the holding success possibility in at least one or more partial regions, a determination unit to determine a holding region for the robot to hold the target object among the partial regions based on the information indicating the holding success possibility, and a control unit to move the robot based on the holding region and cause the robot to perform a holding operation on the target object. In a case where the holding operation performed on the target object by the robot is failed, the determination unit determines a partial region, among the partial regions, satisfying a predetermined condition as a next holding region based on the information indicating the holding success possibility.
Inventors:
Daisuke Yamada
Suzuki Masahiro
Tomoaki Higo
Yuichiro Hirota
Suzuki Masahiro
Tomoaki Higo
Yuichiro Hirota
Application Number:
JP2018087447A
Publication Date:
October 18, 2022
Filing Date:
April 27, 2018
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J13/08
Domestic Patent References:
| JP2017136677A | ||||
| JP2015089589A | ||||
| JP2001179669A | ||||
| JP2013184279A | ||||
| JP2013119121A |
Foreign References:
| WO2017151206A1 | ||||
| US9669543 | ||||
| US20040249509 |
Other References:
JEFFREY MAHLER, JACKY LIANG, SHERDIL NIYAZ, MICHAEL LASKEY, RICHARD DOAN, XINYU LIU, JUAN APARICIO OJEA, KEN GOLDBERG,Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics,COMPUTER SCIENCE_ ROBOTICS,no. arXiv:1703.09312,2017年08月08日
Attorney, Agent or Firm:
Suzuki Masayoshi