Abstract: The disclosure relates to a method for controlling motion of an object towards a target pose. The method includes determining a current state of the object; randomizing multiple configurations of the object with regard to the current state of the object; predicting for each configuration of the multiple configurations of the object a constraint cost with regard to each constraint of one or more constraints; determining for each constraint of the one or more constraints, among the predicted constraints costs that have been predicted for the multiple configurations of the object, a predicted constraint cost that meets the constraint the worst; predicting a target configuration of the object using the multiple configurations of the object, the one or more determined constraint costs that have been determined for the one or more constraints, and the target pose; and controlling the object to change its current state towards the predicted target configuration.

Abstract: A robot remote operation control device includes, in robot remote operation control for an operator to remotely operate a robot capable of gripping an object, an information acquisition unit that acquires operator state information on a state of the operator who operates the robot, an intention estimation unit that estimates a motion intention of the operator who causes the robot to perform a motion, on the basis of the operator state information, and a gripping method determination unit that determines a gripping method for the object on the basis of the estimated motion intention of the operator.

Abstract: A tele-operation assistance system includes: a motion acquisition unit configured to acquire information on a motion of an operator operating an end effector; an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object; an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated; and an operation amount determination unit determine an operation amount of the end effector. The operation amount determination unit estimates an operation distance to the target object based on information of the target object and the motion of the operator, determines an operation state of the end effector according to the estimated operation distance, and changes an input mode of an assistance to a tele-operation according to the operation state.