Grasping apparatus, grasping determination method and grasping determination program
AssigneeToyota Jidosha Kabushiki Kaisha
InventorTakuya Ikeda
Life of this patent
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Abstract
A grasping apparatus brings a hand unit to a standstill after performing a grasping motion for a target object that deforms when being grasped, performs a determination operation of making an arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover a specific spot, and determines that the hand unit has successfully grasped the target object when an observation unit can no longer observe the specific spot after starting the determination operation.
Claims12
A grasping apparatus comprising:
- an arm unit;
- a hand unit capable of grasping a target object that deforms when being grasped, the hand unit being connected to the arm unit;
- an observation unit capable of observing a second spot of the hand unit, the observation unit being disposed in a first spot of the hand unit;
- a grasping control unit configured to make the hand unit perform a grasping motion of grasping the target object;
- and
- a determination unit configured to perform a determination operation of making the arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover the second spot in a state where the grasping control unit has brought the hand unit to a standstill after making the hand unit perform a grasping motion, and determine that the hand unit has successfully grasped the target object when the observation unit can no longer observe the second spot after starting the determination operation.
A grasping determination method for a grasping apparatus, the grasping apparatus comprising:
- an arm unit;
- a hand unit capable of grasping a target object that deforms when being grasped, the hand unit being connected to the arm unit;
- and
- an observation unit capable of observing a second spot of the hand unit, the observation unit being disposed in a first spot of the hand unit,
- the grasping determination method comprising:
- performing, by the hand unit, a grasping motion of grasping the target object;
- performing a determination operation of making the arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover the second spot in a state where the hand unit is brought to a standstill after a grasping motion has been performed;
- and
- determining that the hand unit has successfully grasped the target object when the observation unit can no longer observe the second spot after starting the determination operation.
A non-transitory computer readable medium storing a grasping determination program executed in a grasping apparatus, the grasping apparatus comprising:
- an arm unit;
- a hand unit capable of grasping a target object that deforms when being grasped, the hand unit being connected to the arm unit;
- and
- an observation unit capable of observing a second spot of the hand unit, the observation unit being disposed in a first spot of the hand unit,
- the grasping determination program causing a computer in the grasping apparatus to:
- perform a grasping motion of grasping the target object;
- perform a determination operation of making the arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover the second spot in a state where the hand unit is brought to a standstill after a grasping motion has been performed;
- and
- determine that the hand unit has successfully grasped the target object when the observation unit can no longer observe the second spot after starting the determination operation.
Dependencies are inferred from the claim text.