To perform interactive handing and receiving of an object with a user without placing an excessive burden on the user and being accompanied by a risk.
A grasping region of an object is segmented into regions such as a graspable part, a handing/receiving region part and the like. A robot apparatus holds the graspable part of the object and hands over the object to a user at the handing/receiving region part. When it is difficult to grasp the object at the graspable part, the robot grasps the handing/receiving region part once, and re-grasps the graspable part so that the object takes a correct attitude to hand over the object to a user at the handing/receiving region part. If the re-grasping is difficult, the robot hands over the object to a user at the handing/receiving region part in a correct attitude or at the graspable part, after informing the user of the difficulty in handing over the object.
TSUBOI TOSHIMITSU
SAWADA TSUTOMU
NAGANO MASAKUNI
KAMODA AKINORI
Eiji Yamada
Eiji Sasaki
Toshio Sawada
Daido Patent Office
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