# US 2025/0083318 A1 · Control system, control method, and non-transitory computer-readable medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0083318 A1 - Document ID: US20250083318A1 - Status: Published application - Kind: A1 - Application number: 18/824,476 - Filed: 2024-09-04 - Published: 2025-03-13 - Earliest claimed: 2023-09-08 - Assignees: Nagoya Denki Educational Foundation; Toyota Jidosha Kabushiki Kaisha - Inventors: Takashi YAMAMOTO; Yuka IWANAGA; Masayoshi TSUCHINAGA; Takemitsu MORI; Kosei TANADA; Masahiro TAKAHASHI - Web page: https://patentgrep.com/patent/US20250083318A1 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1697: {Vision controlled systems} - B25J 13/00: Controls for manipulators (program controls B25J9/16) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A control system, a control method, and a program for causing a robot to perform a plurality of types of operations using handwritten input information are provided. A control system causes a robot to perform an operation based on handwritten input information input to an interface. The control system includes: a handwritten input information reception unit that displays a captured image obtained by capturing an environment in which the robot is located and receives an input of the handwritten input information to the displayed captured image; and a switching unit that switches a plurality of input modes of the handwritten input information for causing the robot to perform different types of operations. ## Claims ### Claim 1 A control system configured to determine an operation to be performed by a robot based on handwritten input information input to an interface and control the operation performed by the robot, the control system comprising: a handwritten input information reception unit configured to receive an input of the handwritten input information; and a switching unit configured to switch a plurality of input modes of the handwritten input information for causing the robot to perform different types of operations. ### Claim 2 (depends on 1) The control system according to claim 1, further comprising a notification unit configured to notify a user who inputs the handwritten input information about a current input mode. ### Claim 3 (depends on 1) The control system according to claim 1, wherein the handwritten input information includes trajectory information of the input performed using a finger, a stylus pen, a pointing device, an Augmented Reality (AR) device, a Virtual Reality (VR) device, or a Mixed Reality (MR) device. ### Claim 4 (depends on 1) The control system according to claim 1, wherein the handwritten input information is input to a captured image obtained by capturing an environment in which the robot is located, and the plurality of input modes include a first mode for changing a direction from which the captured image is captured, a second mode for moving the robot, and a third mode for causing an end effector to perform a grasping operation. ### Claim 5 (depends on 4) The control system according to claim 4, wherein when the captured image does not include an area in which the robot is movable, the switching unit switches to a mode other than the second mode, and when the end effector is grasping an object to be grasped, the switching unit switches to a mode other than the third mode. ### Claim 6 (depends on 1) The control system according to claim 1, wherein the switching unit switches the plurality of input modes in response to a selection operation. ### Claim 7 (depends on 1) The control system according to claim 1, wherein the handwritten input information is input to a captured image obtained by capturing an environment in which the robot is located, and the switching unit inputs the captured image to a learning model and switches to a mode indicated by information output from the learning model. ### Claim 8 A control method for determining an operation to be performed by a robot based on handwritten input information input to an interface and controlling the operation performed by the robot, the control method comprising: receiving an input of the handwritten input information to a captured image; and switching a plurality of input modes of the handwritten input information for causing the robot to perform different types of operations. ### Claim 9 A non-transitory computer readable medium storing a program for causing a computer to perform a control method for determining an operation to be performed by a robot based on handwritten input information input to an interface and controlling the operation performed by the robot, the control method comprising: receiving an input of the handwritten input information to a captured image; and switching a plurality of input modes of the handwritten input information for causing the robot to perform different types of operations.