Patent Document ID: 20120078419
Application ID: 13232383
Patent Status: 0

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; 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, after sensing the respective orientations of the object, the at least one joint unit, and the obstacle; 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.