JP6073688B2 - 把持パターンを評価するための方法及びコンピュータプログラムプロダクトとそれを組み込んだロボット - Google Patents

把持パターンを評価するための方法及びコンピュータプログラムプロダクトとそれを組み込んだロボット Download PDF

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Publication number
JP6073688B2
JP6073688B2 JP2013003441A JP2013003441A JP6073688B2 JP 6073688 B2 JP6073688 B2 JP 6073688B2 JP 2013003441 A JP2013003441 A JP 2013003441A JP 2013003441 A JP2013003441 A JP 2013003441A JP 6073688 B2 JP6073688 B2 JP 6073688B2
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robot
end effector
thumb
grip
pattern
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JP2013146853A5 (enExample
JP2013146853A (ja
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太田　康裕
康裕 太田
ジュンゴン キム
ジュンゴン キム
ジェイ．カフナー ジェイムズ
ジェイ．カフナー ジェイムズ
Original Assignee
トヨタ モーター エンジニアリング アンド マニュファクチャリング ノース アメリカ，インコーポレイティド
トヨタ モーター エンジニアリング アンド マニュファクチャリング ノース アメリカ，インコーポレイティド
カーネギー メロン ユニバーシティー
カーネギー メロン ユニバーシティー
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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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • G05B2219/39476—Orient hand relative to object
    • 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
    • G05B2219/39536—Planning of hand motion, grasping
    • 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
    • G05B2219/39546—Map human grasps to manipulator grasps
    • 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
    • G05B2219/40411—Robot assists human in non-industrial environment like home or office
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45084—Service robot

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2013003441A 2012-01-13 2013-01-11 把持パターンを評価するための方法及びコンピュータプログラムプロダクトとそれを組み込んだロボット Expired - Fee Related JP6073688B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/350,245 US9014850B2 (en) 2012-01-13 2012-01-13 Methods and computer-program products for evaluating grasp patterns, and robots incorporating the same
US13/350,245 2012-01-13

Related Child Applications (1)

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JP2017000578A Division JP2017080886A (ja) 2012-01-13 2017-01-05 把持パターンを評価するための方法及びコンピュータプログラムプロダクトとそれを組み込んだロボット

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JP2013146853A JP2013146853A (ja) 2013-08-01
JP2013146853A5 JP2013146853A5 (enExample) 2015-06-18
JP6073688B2 true JP6073688B2 (ja) 2017-02-01

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JP2017000578A Pending JP2017080886A (ja) 2012-01-13 2017-01-05 把持パターンを評価するための方法及びコンピュータプログラムプロダクトとそれを組み込んだロボット

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US (2) US9014850B2 (enExample)
EP (1) EP2614935B1 (enExample)
JP (2) JP6073688B2 (enExample)

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Also Published As

Publication number Publication date
EP2614935A2 (en) 2013-07-17
US9375839B2 (en) 2016-06-28
EP2614935B1 (en) 2017-03-01
US20150174759A1 (en) 2015-06-25
US9014850B2 (en) 2015-04-21
EP2614935A3 (en) 2014-07-16
US20130184860A1 (en) 2013-07-18
JP2013146853A (ja) 2013-08-01
JP2017080886A (ja) 2017-05-18

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