Robot apparatus and method of controlling robot apparatus
AssigneeSony Corporation
InventorsYasunori Kawanami, Toshimitsu Tsuboi, Tsutomu Sawada, Masakuni Nagano, Akinori Kamoda
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Abstract
A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
Claims13
An apparatus, comprising:
- an imaging section configured to capture an image of an object;
- and
- a holding section configured to hold the object;
- circuitry configured to:
- recognize a first part of the object and a second part of the object, wherein the second part of the object is recognized as a part of the object by which the object is handed over to a user;
- cause the holding section to hold the first part of the object, based on the image of the object;
- detect a palm of the user based on an image of the palm of the user;
- determine a first path of the holding section based on a relationship between a first vector of a first coordinate system of the holding section and a second vector of a second coordinate system of the palm of the user, wherein the first path is determined to hand over the object to the user by the second part of the object;
- and
- control hold operation of the object by the holding section based on the first path.
A method of controlling an apparatus, the method comprising:
- capturing an image of an object;
- recognizing a first part of the object and a second part of the object, wherein the second part of the object is recognized as a part of the object by which the object is handed over to a user;
- causing a holding section of the apparatus to hold the first part of the object, based on the image of the object;
- detecting a palm of the user based on an image of the palm of the user;
- determining a path of the holding section based on a relationship between a first vector of a first coordinate system of the holding section and a second vector of a second coordinate system of the palm of the user, wherein the path is determined to hand over the object to the user by the second part of the object;
- and
- controlling hold operation of the object by the holding section based on the path.
A non-transitory computer-readable medium having stored thereon computer-readable instructions, which when executed by a computer, cause the computer to execute operations, the operations comprising:
- in an apparatus:
- capturing an image of an object;
- recognizing a first part of the object and a second part of the object, wherein the second part of the object is recognized as of the object by which the object is handed over to a user;
- causing a holding section of the apparatus to hold the first part of the object, based on the image of the object;
- detecting a palm of the user based on an image of the palm of the user;
- determining a path of the holding section based on a relationship between a first vector of a first coordinate system of the holding section and a second vector of a second coordinate system of the palm of the user, wherein the path is determined to hand over the object to the user by the second part of the object;
- and
- controlling hold operation of the object by the holding section based on the path.
Dependencies are inferred from the claim text.