Patent ID: 9044856
Filing Date: 2015-06-02
Classification: B25J

Abstract:
1. A robot apparatus comprising: a plurality of arm sections; one or more processors configured to: determine a grasping point and a hand position posture for grasping an object at the grasping point for each of the plurality of arm sections; determine an arm position posture for each of the plurality of arm sections, wherein the arm position posture is determined based at least in part on the determined hand position posture; calculate an index value of a grasping easiness for each of the plurality of arm sections, wherein the index value of the grasping easiness is calculated by quantitatively evaluating easiness of assuming the determined arm position posture and the determined hand position posture for grasping the object or assuming a transition posture leading to the determined hand position posture for each of the plurality of arm sections; select one of the plurality of arm sections for grasping the object on the basis of the calculated index value of the grasping easiness; and grasp the object by said selected arm section.