Patent ID: 8788095

Claim:
An object grasping control method comprising: recognizing, using a processor, at least one of a shape, position, and orientation of each of the plurality of graspable members using a visual sensor; generating, using the processor, a list of the recognized graspable members; setting, using the processor, respective first orientation ranges of a grasping unit for grasping each of the plurality of graspable members without interfering with other graspable members, based on at least one of the shape, position, and orientation of each of the plurality of graspable members; selecting, using the processor, as a target graspable member, one graspable member for which the set first orientation range is greater than a predetermined value; adding, using the processor, the selected target graspable member to a list of the target graspable members; and deleting, using the processor, the selected target graspable member from the list of the recognized graspable members.