JP2020532440A - オブジェクトをロバストに把持し、ターゲティングするためのロボットシステムおよび方法 - Google Patents

オブジェクトをロバストに把持し、ターゲティングするためのロボットシステムおよび方法 Download PDF

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JP2020532440A
JP2020532440A JP2020512553A JP2020512553A JP2020532440A JP 2020532440 A JP2020532440 A JP 2020532440A JP 2020512553 A JP2020512553 A JP 2020512553A JP 2020512553 A JP2020512553 A JP 2020512553A JP 2020532440 A JP2020532440 A JP 2020532440A
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implementation method
grip
computer implementation
robot
sensor
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JP2020532440A5 (https=
Inventor
ケネス， イーガル ゴールドバーグ，
ケネス， イーガル ゴールドバーグ，
ジェフェリー， ブライアン マフラー，
ジェフェリー， ブライアン マフラー，
マシュー マトル，
マシュー マトル，
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University of California
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University of California
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Publication of JP2020532440A5 publication Critical patent/JP2020532440A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G06V20/647—Three-dimensional [3D] objects by matching two-dimensional images to three-dimensional objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39505—Control of gripping, grasping, contacting force, force distribution
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39531—Several different sensors integrated into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39542—Plan grasp points, grip matrix and initial grasp force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40155—Purpose is grasping objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40571—Camera, vision combined with force sensor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
JP2020512553A 2017-09-01 2018-04-04 オブジェクトをロバストに把持し、ターゲティングするためのロボットシステムおよび方法 Pending JP2020532440A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762553589P 2017-09-01 2017-09-01
US62/553,589 2017-09-01
PCT/US2018/026122 WO2019045779A1 (en) 2017-09-01 2018-04-04 ROBOTIC SYSTEMS AND METHODS FOR ROBUST STITCHING AND TARGETING OF OBJECTS

Publications (2)

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JP2020532440A true JP2020532440A (ja) 2020-11-12
JP2020532440A5 JP2020532440A5 (https=) 2021-04-22

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Country Status (7)

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US (1) US11446816B2 (https=)
EP (1) EP3676766A4 (https=)
JP (1) JP2020532440A (https=)
CN (1) CN111226237A (https=)
AU (1) AU2018326171A1 (https=)
CA (1) CA3073516A1 (https=)
WO (1) WO2019045779A1 (https=)

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JP2022187984A (ja) * 2021-06-08 2022-12-20 ファナック株式会社 モジュール化ニューラルネットワークを用いた把持学習
WO2023042306A1 (ja) * 2021-09-15 2023-03-23 ヤマハ発動機株式会社 画像処理装置、部品把持システム、画像処理方法および部品把持方法
KR20230075746A (ko) * 2021-11-23 2023-05-31 주식회사 노비텍 광환경 변화를 고려한 피킹 로봇용 비젼 분석 장치
JP2024140129A (ja) * 2023-03-28 2024-10-10 Ｐｃｉソリューションズ株式会社 重量推定装置及び教師データ作成方法
KR102952086B1 (ko) * 2023-12-07 2026-04-14 한국전자기술연구원 운용환경에 따른 로봇 파지점 추출 알고리즘 학습 방법 및 시스템

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JP7154815B2 (ja) * 2018-04-27 2022-10-18 キヤノン株式会社 情報処理装置、制御方法、ロボットシステム、コンピュータプログラム、及び記憶媒体
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JP6833777B2 (ja) * 2018-09-10 2021-02-24 株式会社東芝 物体ハンドリング装置及びプログラム
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US11312581B2 (en) * 2019-04-16 2022-04-26 Abb Schweiz Ag Object grasp system and method
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JP7358994B2 (ja) * 2020-01-08 2023-10-11 オムロン株式会社 ロボット制御装置、ロボット制御システム、ロボット制御方法及びロボット制御プログラム
US11701777B2 (en) * 2020-04-03 2023-07-18 Fanuc Corporation Adaptive grasp planning for bin picking
CN111906781B (zh) * 2020-07-08 2021-07-13 西安交通大学 基于图神经网络的机器人自主工具构建方法、系统及相关设备
CN112115812B (zh) * 2020-08-31 2025-03-14 深圳市联合视觉创新科技有限公司 人体运动信号的标注方法、装置及计算设备
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JP7492440B2 (ja) * 2020-11-10 2024-05-29 株式会社日立製作所 ロボット制御システム、ロボット制御方法及びプログラム
CN112720459B (zh) * 2020-12-02 2022-07-12 达闼机器人股份有限公司 目标物体抓取方法、装置、存储介质及电子设备
CN114603599A (zh) * 2020-12-08 2022-06-10 山东新松工业软件研究院股份有限公司 一种机器人碰撞检测方法、装置、计算机设备及存储介质
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DE102021202759B4 (de) * 2021-03-22 2024-11-07 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Trainieren eines maschinellen Lernmodells zum Steuern eines Roboters
WO2022251881A2 (en) * 2021-05-27 2022-12-01 Ambi Robotics, Inc. System and method for planning and adapting to object manipulation by a robotic system
EP4112238A1 (de) 2021-06-28 2023-01-04 Bayer Aktiengesellschaft Autonomes manipulieren einer biegeschlaffen primärverpackung in einer formstabilen sekundärverpackung mittels roboter
CN113787521B (zh) * 2021-09-24 2023-04-18 上海微电机研究所(中国电子科技集团公司第二十一研究所) 基于深度学习的机器人抓取方法、系统、介质和电子设备
DE102021210993A1 (de) 2021-09-30 2023-03-30 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Erzeugen von Trainingsdaten für überwachtes Lernen zum Trainieren eines neuronalen Netzes
CN114241131A (zh) * 2021-12-13 2022-03-25 深圳鹏行智能研究有限公司 机器人抓取数据集的构建方法及其构建装置和存储介质
CN116416444B (zh) * 2021-12-29 2024-04-16 广东美的白色家电技术创新中心有限公司 物体抓取点估计、模型训练及数据生成方法、装置及系统
CN114952836A (zh) * 2022-05-19 2022-08-30 中国科学院自动化研究所 多指手机器人抓取方法、装置与机器人系统
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CN116460848B (zh) * 2023-04-28 2025-11-21 西安交通大学 基于机械手指尖三维力信息的目标属性识别方法及系统
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Cited By (9)

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JP2022187984A (ja) * 2021-06-08 2022-12-20 ファナック株式会社 モジュール化ニューラルネットワークを用いた把持学習
WO2023042306A1 (ja) * 2021-09-15 2023-03-23 ヤマハ発動機株式会社 画像処理装置、部品把持システム、画像処理方法および部品把持方法
JPWO2023042306A1 (https=) * 2021-09-15 2023-03-23
JP7551940B2 (ja) 2021-09-15 2024-09-17 ヤマハ発動機株式会社 画像処理装置、部品把持システム、画像処理方法および部品把持方法
KR20230075746A (ko) * 2021-11-23 2023-05-31 주식회사 노비텍 광환경 변화를 고려한 피킹 로봇용 비젼 분석 장치
KR102756075B1 (ko) 2021-11-23 2025-01-21 주식회사 노비텍 광환경 변화를 고려한 피킹 로봇용 비젼 분석 장치
JP2024140129A (ja) * 2023-03-28 2024-10-10 Ｐｃｉソリューションズ株式会社 重量推定装置及び教師データ作成方法
JP7745854B2 (ja) 2023-03-28 2025-09-30 Ｐｃｉソリューションズ株式会社 重量推定装置及び教師データ作成方法
KR102952086B1 (ko) * 2023-12-07 2026-04-14 한국전자기술연구원 운용환경에 따른 로봇 파지점 추출 알고리즘 학습 방법 및 시스템

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CA3073516A1 (en) 2019-03-07
WO2019045779A1 (en) 2019-03-07
EP3676766A4 (en) 2021-05-26
EP3676766A1 (en) 2020-07-08
US20200198130A1 (en) 2020-06-25
US11446816B2 (en) 2022-09-20
CN111226237A (zh) 2020-06-02
AU2018326171A1 (en) 2020-04-23

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