Patent ID: 11945113
Assignee: OMRON CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A parameter adjustment apparatus for adjusting a parameter included in a first evaluation index for evaluating a gripping pose, the gripping pose being a pose of a robot hand relative to a gripping target gripped by the robot hand, the apparatus comprising a processer configured to implement:
a gripping pose calculator configured to calculate a plurality of candidates for the gripping pose based on information about a shape of the robot hand, information about a preregistered gripping pose of the robot hand relative to the gripping target, and information about poses of a plurality of the same kind of the gripping targets, located in different poses from each other, to be gripped by the robot hand;
an evaluation index calculator configured to calculate the first evaluation index for each of the plurality of candidates for the gripping pose;
a display configured to display the plurality of candidates for the gripping pose relative to the plurality of the same kind of the gripping targets located in the different poses from each other;
a user evaluation obtainer configured to obtain, from a user, a user evaluation index representing an evaluation on at least one of the plurality of candidates for the gripping pose displayed on the display; and
a parameter adjuster configured to adjust the parameter included in the first evaluation index based on the user evaluation index.