| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a new robot that brings an arm or the like close to an object while recognizing the object, and to provide a method for controlling the same. <P>SOLUTION: The robot 1 includes: a head 11; a robot body 12; the arm 13; a camera 14; an object recognition unit 15; a recognition space calculation unit 16; a trajectory calculation unit 17; and a movement control unit 18. The camera 14 acquires environmental information on surrounding objects around the robot body 12. The object recognition unit 15 recognizes an object 90 to be gripped residing around the robot body 12 based on the environmental information acquired by the camera 14. The recognition space calculation unit 16 calculates a recognition space 20 serving as a space necessary for the object recognition unit 15 to recognize the object 90 to be gripped. The trajectory calculation unit 17 calculates a trajectory along which the arm 13 proceeds to the object 90 to be gripped while avoiding intruding into the recognition space 20. The movement control unit 18 controls the movement of the arm 13 so that the arm avoids intrusion into the recognition space 20 of the arm 13. <P>COPYRIGHT: (C)2012,JPO&INPIT |
