Omron Corporation

National University Corporation Nara Institute of Science and Technology

Masashi Hamaya

Yoshiya Shibata

Yoshihisa Ijiri

Kazutoshi Tanaka

Chisato Saito

Chisato Nakashima

Felix Vondrigalski

Felix Von Drigalski

A trajectory generation device includes an acquisition unit, a clustering unit and a generation unit. The acquisition unit acquires successful trajectory information and failed trajectory information that are trajectory information representing sequences of states of a controlled object being taught by a teacher. The successful trajectory information is trajectory information when a task performed by the controlled object is successful, and the failed trajectory information is trajectory information when the task is failed. From the states of the controlled object belonging to the successful trajectory information and the states belonging to the failed trajectory information, the clustering unit generates clusters of successful classes of the states. On the basis of the clusters of successful classes, the generation unit generates target trajectory information representing a sequence of states of the controlled object, the sequence of states being usable as control targets when the controlled object is caused to execute the task.

Trajectory generation device, trajectory generation method, and recording medium storing trajectory generation program

A joint structure includes a locking mechanism for switching a free state in which a second element is independent from a first element and capable of moving, and a locked state in which the second element is fixed to the first element. The locking mechanism includes a first member joined to the first element, a second member joined to the second element, and a flexible wire-shaped member in which one end thereof is attached to the second member and another end thereof is led out to the outside of the joint structure via a through hole provided in the first member. The joint structure enters the locked state by the wire-shaped member being pulled to bring the second member into contact with the first member, and enters the free state by the wire-shaped member being fed to separate the second member from the first member.

Joint structure for robot

A control apparatus of a robot may include a state obtaining unit configured to obtain state observation data including flexible related observation data, which is observation data regarding a state of at least one of a flexible portion, a portion of the robot on a side where an object is gripped relative to the flexible portion, and the gripped object; and a controller configured to control the robot so as to output an action to be performed by the robot to perform predetermined work on the object, in response to receiving the state observation data, based on output obtained as a result of inputting the state observation data obtained by the state obtaining unit to a learning model, the learning model being learned in advance through machine learning and included in the controller.

Control apparatus, robot, learning apparatus, robot system, and method

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Tokyo, Japan

Masashi Hamaya