Object holding method and non-transitory computer readable medium
AssigneeHonda Motor Co., Ltd.
InventorsTadaaki Hasegawa, Masanori Yoshihira
Life of this patent
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Abstract
An object holding method includes: a step of determining a center of a first object assumed to be held by an end effector for a plurality of holding postures which the end effector is able to take; a step of measuring a shape of a second object based on an image in which the second object is captured from a viewpoint; a step of selecting a holding posture when the end effector holds the second object from the holding postures based on centers of the second object and the first object; and a step of reducing a portion of the shape of the second object in a case where the end effector holds the second object by using the selected holding posture.
Claims19
An object holding method, comprising:
- a step of determining a geometric central line of a first object to be held by an end effector for each of a plurality of holding postures which the end effector is able to take, and storing a relationship between the determined geometric central line of the first object and the corresponding holding postures for each of the plurality of holding postures in a database;
- a step of measuring a shape of a second object based on an image in which the second object is captured from at least one viewpoint;
- a step of selecting a first holding posture from the plurality of holding postures based on a geometric central line of a geometric primitive of the second object whose shape is measured and the relationship stored in the first object;
- and
- a step of reducing a portion of the shape of the second object that is measured, wherein the portion is a dead spot that is present when viewed from the viewpoint and to which a force is applied from the end effector to the second object, in a case where the end effector holds the second object by using the selected first holding posture.
A non-transitory computer readable medium, storing a program causing a computer to execute:
- a step of determining a geometric central line of a first object to be held by an end effector for each of a plurality of holding postures which the end effector is able to take, and storing a relationship between the determined geometric central line of the first object and the corresponding holding postures for each of the plurality of holding postures in a database;
- a step of measuring a shape of a second object based on an image in which the second object is captured from at least one viewpoint;
- a step of selecting a first holding posture from the plurality of holding postures based on a geometric central line of a geometric primitive of the second object whose shape is measured and the relationship stored in the first object;
- and
- a step of reducing a portion of the shape of the second object that is measured, wherein the portion is a dead spot that is present when viewed from the viewpoint and to which a force is applied from the end effector to the second object, in a case where the end effector holds the second object by using the selected first holding posture.
Dependencies are inferred from the claim text.