Object grasping control method and apparatus

An object grasping control method comprising:

• recognizing, using a processor, at least one of a shape, position, and orientation of each of the plurality of graspable members using a visual sensor;
• generating, using the processor a list of the recognized graspable members;
• setting, using the processor, respective second orientation ranges of a grasping unit for grasping each of the plurality of graspable members interfering with other graspable members, based on at least one of the shape, position, and orientation of each of the plurality of graspable members;
• selecting, using the processor, as a target graspable member, at least one graspable member for which the set second orientation range is less than a predetermined value;
• adding, using the processor, the selected target graspable member to a list of the target graspable members;
• and
• deleting, using the processor, the selected target graspable member from the list of the recognized graspable members.

An object grasping control apparatus comprising:

• at least one processor coupled via a bus to a memory, the processor being programmed to control one or more of:
• a recognizing unit configured to recognize at least one of a shape, position, and orientation of each of the plurality of graspable members using a visual sensor;
• a generating unit configured to generate a list of the recognized graspable members;
• a setting unit configured to set respective first orientation ranges of a grasping unit for grasping each of the plurality of graspable members without interfering with other graspable members, based on at least one of the shape, position, and orientation of each of the plurality of graspable members;
• a selecting unit configured to select as a target graspable member, one graspable member for which the set first orientation range is greater than a predetermined value;
• an adding unit configured to add the selected target graspable member to a list of the target graspable members;
• and
• a deleting unit configured to delete the selected target graspable member from the list of the recognized graspable members.

An object grasping control apparatus comprising:

• at least one processor coupled via a bus to a memory, the processor being programmed to control one or more of:
• a recognizing unit configured to recognize at least one of a shape, position, and orientation of each of the plurality of graspable members using a visual sensor;
• a generating unit configured to generate a list of the recognized graspable members;
• a setting unit configured to set respective second orientation ranges of a grasping unit for grasping each of the plurality of graspable members interfering with other graspable members, based on at least one of the shape, position, and orientation of each of the plurality of graspable members;
• a selecting unit configured to select as a target graspable member, at least one graspable member for which the set second orientation range is less than a predetermined value;
• an adding unit configured to add the selected target graspable member to a list of the target graspable members;
• and
• a deleting unit configured to delete the selected target graspable member from the list of the recognized graspable members.