Generation device, generation method, and non-transitory recording medium stored with generation program
AssigneeOMRON Corporation
InventorsFelix von Drigalski, Kazumi Kasaura, Cristian C. Beltran Hernandez, Masashi Hamaya, Kazutoshi Tanaka
Life of this patent
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Abstract
A generation device that includes: a memory, and a processor coupled to the memory, the processor being configured to generate an action series for performing positioning on a target object, the action series including two or more combinations of at least one of a first action of grasping the target object using a gripper of a robot, a second action of placing the target object grasped by the gripper on a support surface, or a third action of pushing the target object with the gripper.
Claims9
A generation device, comprising:
- a memory, and
- a processor coupled to the memory,
- the processor being configured to
- generate an action series for performing positioning on a target object, the action series including two or more combinations of at least one of a first action of grasping the target object using a gripper of a robot, a second action of placing the target object grasped by the gripper on a support surface, or a third action of pushing the target object with the gripper;
- estimate a posture of the target object and a degree of uncertainty of posture of the target object after each action in a case in which each action included in a candidate of the action series is assumed to have been performed;
- and
- generate an action series to reduce the estimated degree of uncertainty of posture sequentially as each action is performed.
A generation method, comprising:
- by a processor,
- generating an action series for performing positioning on a target object, the action series including two or more combinations of at least one of a first action of grasping the target object using a gripper of a robot, a second action of placing the target object grasped by the gripper on a support surface, or a third action of pushing the target object with the gripper;
- estimating a posture of the target object and a degree of uncertainty of posture of the target object after each action in a case in which each action included in a candidate of the action series is assumed to have been performed;
- and
- generating an action series to reduce the estimated degree of uncertainty of posture sequentially as each action is performed.
A non-transitory recording medium storing a generation program executable by a computer to perform processing comprising:
- generating an action series for performing positioning on a target object, the action series including two or more combinations of at least one of a first action of grasping the target object using a gripper of a robot, a second action of placing the target object grasped by the gripper on a support surface, or a third action of pushing the target object with the gripper;
- estimating a posture of the target object and a degree of uncertainty of posture of the target object after each action in a case in which each action included in a candidate of the action series is assumed to have been performed;
- and
- generating an action series to reduce the estimated degree of uncertainty of posture sequentially as each action is performed.
Dependencies are inferred from the claim text.