Toyota Jidosha Kabushiki Kaisha

Kazuto Murase

Yuta Watanabe

Koji Terada

Yuka Hashiguchi

A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.

Trajectory generation apparatus

A grasping robot includes: a grasping mechanism configured to grasp a target object; an image-pickup unit configured to shoot a surrounding environment; an extraction unit configured to extract a graspable part that can be grasped by the grasping mechanism in the surrounding environment by using a learned model that uses an image acquired by the image-pickup unit as an input image; a position detection unit configured to detect a position of the graspable part; a recognition unit configured to recognize a state of the graspable part by referring to a lookup table that associates the position of the graspable part with a movable state thereof; and a grasping control unit configured to control the grasping mechanism so as to displace the graspable part in accordance with the state of the graspable part recognized by the recognition unit.

Grasping robot and control program for grasping robot

A failure diagnosis support system includes first image acquisition means mounted on a robot for acquiring an image of the robot; and control means for controlling position and orientation of the first image acquisition means. The control means controls the position and orientation of the first image acquisition means at a predetermined timing so that the first image acquisition means faces a predetermined part of the robot. The first image acquisition means acquires an image of the predetermined part at the position and orientation controlled by the control means.

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Miyoshi, Japan

Kazuto Murase