Abstract: A robot system includes a robot including a plurality of fingers for holding a target object and a control device configured to control a motion of the robot. The control device includes one or more processors. The processors acquire an image of a first target object and a second target object taken by an imaging device. The processors control the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the fingers into the gap, and holds the first target object.

Abstract: A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.

Abstract: According to one embodiment, a cargo handling apparatus includes a hand, a robot arm, a transfer device, a measurement device, and a control device. The hand holds an article. The robot arm moves the hand. The transfer device is arranged with the robot arm, and transfers the article. The measurement device measures a position and a size of the article. The control device performs a first operation of transferring the article to the transfer device by using the hand and the robot arm, and a second operation of transferring the transferred article by using the transfer device. The control device determines whether or not the robot arm will interfere with the transfer device or a second article on the transfer device when performing the first operation for a first article. The control device controls a start timing of the first operation according to a determination result of the interference.

Abstract: According to one embodiment, a transfer apparatus includes a suction hand, a moving device, a first detector, and a controller. The suction hand includes a first and second suction units. The first and second suction units are configured to contact with an article in a first direction and a second direction, respectively. the first suction unit and the second suction unit each are provided multiply in a third direction. The controller performs at least a first operation and a second operation. In the first operation, the first suction units respectively suction first surfaces of the articles, the second suction units respectively suction second surfaces of the articles, and the articles are moved. In the second operation, one of the first suction units suctions the first surface of one of the articles, the second suction units do not suction the articles, and the one of the articles is moved.

Abstract: According to one embodiment, a cargo-handling apparatus includes a holding unit, an image-capturing unit, a distance measurement sensor, and a control unit. The holding unit holds an article. The image-capturing unit captures an image of the article in a first direction. The distance measurement sensor measures a distance to the article in a second direction crossing the first direction. The control unit controls the holding unit. The control unit selects a first article to be held based on an imaging result by the image-capturing unit, calculates, based on a measurement result by the distance measurement sensor, a position of a first face of the first article and a position of a second face of the first article, and causes the holding unit to operate in accordance with the calculated position of the first face and the calculated position of the second face to hold the first article.

Abstract: An object manipulation apparatus according to an embodiment of the present disclosure includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: calculate, based on an image in which one or more objects to be grasped are contained, an evaluation value of a first behavior manner of grasping the one or more objects; generate information representing a second behavior manner based on the image and a plurality of evaluation values of the first behavior manner; and control actuation of grasping the object to be grasped in accordance with the information being generated.

Abstract: A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.

Abstract: A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.

Abstract: According to an embodiment, an object handling device includes a base, a manipulator, a first camera, a sensor, a manipulator control unit and a calibration unit. The manipulator is arranged on the base, and includes a movable part and an effector that is arranged on the movable part and acts on an object. The first camera and the sensor are arranged on the manipulator. The manipulator control unit controls the manipulator so that the movable part is moved to a position corresponding to a directed value. The calibration processing unit acquires a first error in a first direction based on an image photographed by the first camera, acquire a second error in a second direction intersecting with the first direction based on a detection result obtained by the sensor, and acquire a directed calibration value with respect to the directed value based on the first error and the second error.

Abstract: A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.

Abstract: A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.

Abstract: According to one embodiment, a holding mechanism includes a first holding part, a second holding part, a first guide, a second guide, a third guide, a fourth guide, and a driving mechanism. The second holding part faces the first holding part in a first direction. The first guide is connected to the first holding part and capable of moving the first holding part in the first direction. The second guide is connected to the second holding part and capable of moving the second holding part in the first direction. The third guide is capable of moving the first guide in the first direction. The fourth guide is capable of moving the second guide in the first direction, and aligned with the third guide in the first direction. The drive mechanism changes a distance between the first holding part and the second holding part.

Abstract: A robot system includes a robot including a plurality of fingers for holding a target object and a control device configured to control a motion of the robot. The control device includes one or more processors. The processors acquire an image of a first target object and a second target object taken by an imaging device. The processors control the motion of the robot based on the image such that the robot moves the first target object with at least one finger included in the fingers in a direction in which a gap is formed between the first target object and the second target object, inserts at least one finger included in the fingers into the gap, and holds the first target object.

Abstract: According to one embodiment, a holding apparatus includes a holding part, a rotating part, a supporting part, and a moving mechanism. The holding part is configured to hold an article. The rotating part is configured to rotate the holding part. The supporting part is configured to support the article from below. The moving mechanism is configured to move the holding part with respect to the supporting part.

Abstract: A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.

Abstract: An object manipulation apparatus according to an embodiment of the present disclosure includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: calculate, based on an image in which one or more objects to be grasped are contained, an evaluation value of a first behavior manner of grasping the one or more objects; generate information representing a second behavior manner based on the image and a plurality of evaluation values of the first behavior manner; and control actuation of grasping the object to be grasped in accordance with the information being generated.

Abstract: According to one embodiment, a holding apparatus includes a holding part, a rotating part, a supporting part, and a moving mechanism. The holding part is configured to hold an article. The rotating part is configured to rotate the holding part. The supporting part is configured to support the article from below. The moving mechanism is configured to move the holding part with respect to the supporting part.

Abstract: According to one embodiment, a holding device includes a first holder and a first sensor. The first holder includes a first member and a second member. The first holder is configured to hold an object by interposing the object between the first member and the second member. The first sensor is in the first member. The first sensor is configured to detect a vibration.

Abstract: According to one embodiment, an information processing device includes a camera and a processing circuit. The camera takes first distance images of an object for a plurality of angles. The processing circuit generates a three-dimensional model of the object based on the first distance image, and generates an extracted image indicating a specific region of the object corresponding to the plurality of angles based on the three-dimensional model.

Abstract: According to one embodiment, a holding mechanism includes a first holding part, a second holding part, a first guide, a second guide, a third guide, a fourth guide, and a driving mechanism. The second holding part faces the first holding part in a first direction. The first guide is connected to the first holding part and capable of moving the first holding part in the first direction. The second guide is connected to the second holding part and capable of moving the second holding part in the first direction. The third guide is capable of moving the first guide in the first direction. The fourth guide is capable of moving the second guide in the first direction, and aligned with the third guide in the first direction. The drive mechanism changes a distance between the first holding part and the second holding part.