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公开(公告)号：US20240104768A1
公开(公告)日：2024-03-28
申请号：US18474552
申请日：2023-09-26
申请人： National Institute of Advanced Industrial Science and Technology , KABUSHIKI KAISHA TOYOTA JIDOSHOKKI
发明人： Nobuyuki KITA , Takuro Kato , Daisuke Okabe , Eiichi Yoshida , Yukikazu Koide , Norihiko Kato , Naoya Yokomachi , Tatsuya Komuro
CPC分类号： G06T7/73 , B66F9/0755 , G06T7/13 , G06T2207/20061 , G06T2207/30252
摘要： An article detection device includes: an image acquiring unit acquiring a surroundings image; a first information image preparing unit preparing a first information image by converting information on a load/unloading target portion of the article to an easily recognizable state based on the surroundings image; a first calculation unit calculating at least one of a position and a posture of the load/unloading target portion; a second information image preparing unit preparing a second information image by converting information on a pitch angle detection portion of the article to an easily recognizable state; and a second calculation unit configured extracting at least two edge candidates for the article extending in a specific direction and included in the second information image based on a calculation result from the first calculation unit and calculating a three-dimensional direction vector indicating a pitch angle of the article from the edge candidates.
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公开(公告)号：US20180099411A1
公开(公告)日：2018-04-12
申请号：US15572751
申请日：2016-05-10
发明人： Ko Ayusawa , Eiichi Yoshida
IPC分类号： B25J9/16
摘要： A robot behavior generation method includes: generating a human body model; generating a robot model; creating associations between the human body model and the robot model; acquiring first motion data indicating movement of a human body model; selectively choosing movement feature indices having first unknown motion data that indicates movement of the human body model, and setting an evaluation standard for a reproduction error with respect to the normative motion data; selecting a constraint necessary for a robot to move, included in second unknown motion data that indicates the movement of the robot model; calculating first unknown motion data and second unknown motion data the reproduction errors of which based on the evaluation standard are minimum under the association and the constraint; and using the second unknown motion data to control the robot.
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公开(公告)号：US10518412B2
公开(公告)日：2019-12-31
申请号：US15572751
申请日：2016-05-10
发明人： Ko Ayusawa , Eiichi Yoshida
摘要： A robot behavior generation method includes: generating a human body model; generating a robot model; creating associations between the human body model and the robot model; acquiring first motion data indicating movement of a human body model; selectively choosing movement feature indices having first unknown motion data that indicates movement of the human body model, and setting an evaluation standard for a reproduction error with respect to the normative motion data; selecting a constraint necessary for a robot to move, included in second unknown motion data that indicates the movement of the robot model; calculating first unknown motion data and second unknown motion data the reproduction errors of which based on the evaluation standard are minimum under the association and the constraint; and using the second unknown motion data to control the robot.
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