# US 8,788,095 B2 · Object grasping control method and apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,788,095 B2 - Document ID: US8788095B2 - Status: Granted - Kind: B2 - Application number: 12/892,748 - Filed: 2010-09-28 - Published: 2011-03-31 - Granted: 2014-07-22 - Earliest claimed: 2009-09-29 - Assignees: Canon Kabushiki Kaisha - Applicants: Keisuke Maehara; Hiroshi Miyagawa - Inventors: Keisuke Maehara; Hiroshi Miyagawa - Web page: https://patentgrep.com/patent/US8788095B2 ## CPC - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/1679: {characterised by the tasks executed} - G05B 2219/39487: Parallel jaws, two fingered hand - G05B 2219/39543: Recognize object and plan hand shapes in grasping movements - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract An object grasping control method, in which an object grasping control apparatus grasps a plurality of graspable members using a grasping unit, includes recognizing at least one of a shape, position, and attitude of each of the plurality of graspable members, setting, based on at least of one of the shape, position, and attitude of each of the plurality of graspable members, an attitude range as a graspable attitude range in which each of the plurality of graspable members and the grasping unit do not interfere with each other for each of the plurality of graspable members, and setting, as a grasping target to be grasped by the grasping unit, a graspable member, among the plurality of graspable members, the set graspable attitude range of which is greater than a predetermined threshold value. ## Claims ### Claim 1 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 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; selecting, using the processor, as a target graspable member, one graspable member for which the set first orientation range is greater 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. ### Claim 2 (depends on 1) The object grasping control method according to claim 1, further comprising: setting, using the processor, the respective first orientation ranges by setting a range of motion of each of the graspable members and the grasping unit using at least one convex model. ### Claim 3 (depends on 2) The object grasping control method according to claim 2, further comprising: setting, using the processor, the respective first orientation ranges using a circular convex model as the convex model. ### Claim 4 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. ### Claim 5 (depends on 4) The object grasping control method according to claim 4, further comprising: setting, using the processor, the respective second orientation ranges by setting a range of motion of each of the plurality of graspable members and the grasping unit using at least one convex model. ### Claim 6 (depends on 5) The object grasping control method according to claim 5, further comprising: setting, using the processor, the respective second orientation ranges using a circular convex model as the convex model. ### Claim 7 (depends on 5) The object grasping control method according to claim 5, further comprising: setting, using the processor, the respective second orientation ranges using a spherical convex model as the convex model. ### Claim 8 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. ### Claim 9 (depends on 8) The object grasping control apparatus according to claim 8, wherein the setting unit sets the respective first orientation ranges by setting a range of motion of each of the plurality of graspable members and the grasping unit using at least one convex model. ### Claim 10 (depends on 9) The object grasping control apparatus according to claim 9, wherein the setting unit sets the respective first orientation ranges using a circular convex model as a convex model that is an element of a range of motion of each of the plurality of graspable members and the grasping unit. ### Claim 11 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. ### Claim 12 (depends on 11) The object grasping control apparatus according to claim 11, wherein the setting unit sets the respective second orientation ranges by setting a range of motion of each of the plurality of graspable members and the grasping unit using at least one convex model. ### Claim 13 (depends on 12) The object grasping control apparatus according to claim 12, wherein the setting unit sets the respective second orientation ranges using a circular convex model as the convex model. ### Claim 14 (depends on 12) The object grasping control apparatus according to claim 12, wherein the setting unit sets the respective second orientation ranges using a spherical convex model as the convex model. ### Claim 15 (depends on 1) The object grasping control method according to claim 1, further comprising: setting, using the processor, the respective first orientation ranges using a spherical convex model as the convex model. ### Claim 16 (depends on 1) The method according to claim 1, further comprising: determining, using the processor, whether a plurality of graspable member for which the set orientation range is greater than a predetermined value exist, wherein when the plurality of graspable member for which the set orientation range is greater than a predetermined value exist in determining, selecting, using the processor, a target graspable member based on a difference between an initial orientation of the grasping unit and the orientation of the grasping unit for the respective graspable member candidates. ### Claim 17 (depends on 4) The method according to claim 4, further comprising: determining, using the processor, whether a plurality of graspable member for which the set orientation range is less than a predetermined value exist; wherein when the plurality of graspable member for which the set orientation range is less than a predetermined value exist in determining, selecting, using the processor, a target graspable member based on a difference between an initial orientation of the grasping unit and the orientation of the grasping unit for the respective graspable member candidates.