JP2022546733A - 手の中の姿勢推定 - Google Patents

手の中の姿勢推定 Download PDF

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Publication number
JP2022546733A
JP2022546733A JP2022514753A JP2022514753A JP2022546733A JP 2022546733 A JP2022546733 A JP 2022546733A JP 2022514753 A JP2022514753 A JP 2022514753A JP 2022514753 A JP2022514753 A JP 2022514753A JP 2022546733 A JP2022546733 A JP 2022546733A
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JP
Japan
Prior art keywords
hand
robot
pose
interaction
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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JP2022514753A
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English (en)
Japanese (ja)
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JP2022546733A5 (enExample
Inventor
ドリガルスキ，フェリクス フォン
尚平 谷口
義也 柴田
善久 井尻
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Omron Corp
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Omron Corp
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Publication date
Application filed by Omron Corp filed Critical Omron Corp
Publication of JP2022546733A publication Critical patent/JP2022546733A/ja
Publication of JP2022546733A5 publication Critical patent/JP2022546733A5/ja
Pending legal-status Critical Current

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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
    • B25J9/1694—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
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/40541—Identification of contact formation, state from several force measurements
    • 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
    • G05B2219/40583—Detect relative position or orientation between gripper and currently handled object

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2022514753A 2019-09-13 2019-09-13 手の中の姿勢推定 Pending JP2022546733A (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/057734 WO2021048598A1 (en) 2019-09-13 2019-09-13 In-hand pose estimation

Publications (2)

Publication Number Publication Date
JP2022546733A true JP2022546733A (ja) 2022-11-07
JP2022546733A5 JP2022546733A5 (enExample) 2023-07-03

Family

ID=68072905

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022514753A Pending JP2022546733A (ja) 2019-09-13 2019-09-13 手の中の姿勢推定

Country Status (2)

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JP (1) JP2022546733A (enExample)
WO (1) WO2021048598A1 (enExample)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117207190A (zh) * 2023-09-28 2023-12-12 重庆大学 基于视觉与触觉融合的精准抓取机器人系统
KR102745527B1 (ko) * 2024-10-18 2024-12-23 한국생산기술연구원 로봇 펙인홀 조립 모션 생성 기법
KR102762686B1 (ko) * 2024-10-16 2025-02-06 한국생산기술연구원 강화 학습 기반 파지 물체 재정렬 기법

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115695643B (zh) * 2022-10-27 2024-06-18 网易有道(杭州)智能科技有限公司 用于手持设备的方法及相关产品

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013024864A (ja) * 2011-07-15 2013-02-04 Mitsubishi Electric Corp 複数の姿勢においてプローブを用いて物体をプロービングすることによってプローブを物体とレジストレーションする方法およびシステム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8219352B2 (en) * 2010-03-31 2012-07-10 Mitsubishi Electric Research Laboratories, Inc. Localization in industrial robotics using rao-blackwellized particle filtering

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013024864A (ja) * 2011-07-15 2013-02-04 Mitsubishi Electric Corp 複数の姿勢においてプローブを用いて物体をプロービングすることによってプローブを物体とレジストレーションする方法およびシステム

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
KARAYIANNIDIS, YIANNIS、SMITH, CHRISTIAN、VIA, FRANCISCO E.、KRAGIC, DANICA: "Online contact point estimation for uncalibrated tool use", 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), JPN6023016528, 2014, pages 2488 - 2494, XP032650674, ISSN: 0005046005, DOI: 10.1109/ICRA.2014.6907206 *
永田 和之 ，外２名: "「接触情報を用いたロボットの把握位置姿勢の推定」", 計測自動制御学会論文集 第２８巻 第７号, JPN6023016527, 31 July 1992 (1992-07-31), pages 783 - 789, ISSN: 0005159531 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117207190A (zh) * 2023-09-28 2023-12-12 重庆大学 基于视觉与触觉融合的精准抓取机器人系统
CN117207190B (zh) * 2023-09-28 2024-05-10 重庆大学 基于视觉与触觉融合的精准抓取机器人系统
KR102762686B1 (ko) * 2024-10-16 2025-02-06 한국생산기술연구원 강화 학습 기반 파지 물체 재정렬 기법
KR102745527B1 (ko) * 2024-10-18 2024-12-23 한국생산기술연구원 로봇 펙인홀 조립 모션 생성 기법

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Publication number Publication date
WO2021048598A1 (en) 2021-03-18

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