Robot apparatus and method of controlling robot apparatus
A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
1. An apparatus, comprising:
an imaging section configured to capture an image of an object; and
a holding section configured to hold the object;
circuitry configured to:
recognize a first part of the object and a second part of the object, wherein the second part of the object is recognized as a part of the object by which the object is handed over to a user;
cause the holding section to hold the first part of the object, based on the image of the object;
detect a palm of the user based on an image of the palm of the user;
determine a first path of the holding section based on a relationship between a first vector of a first coordinate system of the holding section and a second vector of a second coordinate system of the palm of the user, wherein the first path is determined to hand over the object to the user by the second part of the object; and
control hold operation of the object by the holding section based on the first path.
2. The apparatus according to claim 1 , wherein the circuitry is further configured to
recognize the first part of the object and the second part of the object, based on an image recognition result of the captured image of the object.
3. The apparatus according to claim 2 , wherein the circuitry is further configured to:
recognize the part that enables the user who receives the object to receive the object as the second part of the object, and recognize a part that is allowed to be held by the holding section as the first part of the object, based on the image recognition result.
4. The apparatus according to claim 3 , wherein the circuitry is further configured to recognize a third part of the object that is restricted to be held by the holding section as an unholdable part.
5. The apparatus according to claim 1 , wherein the circuitry is further configured to
control the holding section to hold the object by the first part of the object, and to hand over the object by the second part of the object, based on the first path.
6. The apparatus according to claim 5 , wherein the circuitry is further configured to
determine a second path to hold the first part of the object based on a determination that the holding section is unable to handover the first part of the object in a determined posture according to the first path.
7. The apparatus according to claim 5 , wherein the circuitry is further configured to
determine a second path to hold the object by the second part of the object, and
change the second path to hold the first part of the object in a determined posture, and to hand over the object by the second part of the object.
8. The apparatus according to claim 5 , wherein the circuitry is further configured to,
determine a second path to hold the object by the second part of the object, and to hand over the object to the user by the first part of the object.
9. The apparatus according to claim 6 , wherein the circuitry is further configured to
determine a third path to hold the object by the second part of the object, and to hand over the object to the user by the first part of the object.
10. The apparatus according to claim 8 , wherein the circuitry is further configured to
generate a warning to the user to whom the object is handed over by the first part of the object.
11. The apparatus according to claim 5 , wherein the circuitry is further configured to:
generate, based on a determination that the holding section is unable to hand over the object by one of the first part or the second part, a warning that the apparatus is unable to hand over the object to the user.
12. A method of controlling an apparatus, the method comprising:
capturing an image of an object;
recognizing a first part of the object and a second part of the object, wherein the second part of the object is recognized as a part of the object by which the object is handed over to a user;
causing a holding section of the apparatus to hold the first part of the object, based on the image of the object;
detecting a palm of the user based on an image of the palm of the user;
determining a path of the holding section based on a relationship between a first vector of a first coordinate system of the holding section and a second vector of a second coordinate system of the palm of the user, wherein the path is determined to hand over the object to the user by the second part of the object; and
controlling hold operation of the object by the holding section based on the path.
13. A non-transitory computer-readable medium having stored thereon computer-readable instructions, which when executed by a computer, cause the computer to execute operations, the operations comprising:
in an apparatus:
capturing an image of an object;
recognizing a first part of the object and a second part of the object, wherein the second part of the object is recognized as of the object by which the object is handed over to a user;
causing a holding section of the apparatus to hold the first part of the object, based on the image of the object;
detecting a palm of the user based on an image of the palm of the user;
determining a path of the holding section based on a relationship between a first vector of a first coordinate system of the holding section and a second vector of a second coordinate system of the palm of the user, wherein the path is determined to hand over the object to the user by the second part of the object; and
controlling hold operation of the object by the holding section based on the path.