Patent Document ID: 9014854
Application ID: 13232383
Patent Status: 1

Claim One:
1. A control method of a robot with a plurality of robot arms, each of which has at least one joint unit and a hand, the control method comprising: dividing an object into a target grasp region and feasible grasp regions and storing grasp policies respectively corresponding to the target grasp region and the feasible grasp regions, the target grasp region being a region of the object where a grasping operation is finally performed, the feasible grasp regions being remaining regions excluding the target grasp region from the object, and the grasp policies including data regarding where the hand is located with respect to the object and which hand grasps the object for each of the divided regions; and after said dividing, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible in consideration of the orientations of the obstacle and the object and a movable angle range of the at least one joint unit, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand of each robot arm so as to trace the generated grasp route.