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Title:
MOBILE MANIPULATOR, METHOD FOR CONTROLLING SAME, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2024/053204
Kind Code:
A1
Abstract:
Provided is a mobile manipulator comprising a control unit, a main body part provided with an object-accommodating part, an articulated robot arm part, and an object operation part that performs an operation to hold an object and accommodate the object in the object-accommodating part, wherein: the object operation part is provided with a holding operation part that performs actions to hold the object, release holding of the object, and displace the object, and an object-orientation-changing part that performs an action to change the orientation of the object; and the control unit is provided with a positioning control unit that controls the articulated robot arm part and/or the object operation part such that the object operation part is positioned at a prescribed position and/or orientation relative to a target object, an object holding control unit that controls the holding operation part to hold the target object and displace the target object toward the object-orientation-changing part, an object orientation change control unit that controls the object-orientation-changing part to change the orientation of the target object, and an accommodation control unit that controls the articulated robot arm and/or the holding operation part to accommodate the target object, for which the orientation has been changed, in the object-accommodating part.

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Inventors:
MATSUO YUKI (JP)
Application Number:
PCT/JP2023/022909
Publication Date:
March 14, 2024
Filing Date:
June 21, 2023
Export Citation:
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Assignee:
TOKYO ROBOTICS INC (JP)
International Classes:
B25J5/00
Domestic Patent References:
WO2020071080A12020-04-09
Foreign References:
JP6957781B12021-11-02
JP2020508274A2020-03-19
JP2021519701A2021-08-12
JP2021084177A2021-06-03
JP3217417U2018-08-09
JP2021523838A2021-09-09
JPS62277284A1987-12-02
JP5380630B12014-01-08
Attorney, Agent or Firm:
IIZUKA Shinichi et al. (JP)
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