System for carrying an item
First Claim
1. An item-carrying system comprising:
- a robot comprising;
a gripping portion for gripping an item, wherein the gripping portion is configured to open and close;
external force detecting means for detecting an external force applied to the gripping portion;
opening-degree detecting means for detecting an opening-degree of the gripping portion;
autonomous movement means; and
receiving/passing motion deciding means for deciding a motion of the robot in the item receiving/passing operation, the system receiving/passing the item with the gripping portion, whereinthe receiving/passing motion deciding means comprises;
means for determining to start receiving the item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping the item; and
means for determining the completion of a receiving motion that determines the completion of an item-receiving motion on the basis of at least one of an external force detected by the external force detecting means and an opening-degree detected by the opening-degree detecting means, during the receiving motion.
1 Assignment
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Accused Products
Abstract
The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; autonomous movement means; and receiving/passing motion deciding means for deciding a motion of the robot in an item receiving/passing operation, wherein the receiving/passing motion deciding means comprises: means for determining to start receiving an item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion on the basis of at least one of an external force and an opening-degree during the receiving motion.
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Citations
16 Claims
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1. An item-carrying system comprising:
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a robot comprising; a gripping portion for gripping an item, wherein the gripping portion is configured to open and close; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; autonomous movement means; and receiving/passing motion deciding means for deciding a motion of the robot in the item receiving/passing operation, the system receiving/passing the item with the gripping portion, wherein the receiving/passing motion deciding means comprises; means for determining to start receiving the item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping the item; and means for determining the completion of a receiving motion that determines the completion of an item-receiving motion on the basis of at least one of an external force detected by the external force detecting means and an opening-degree detected by the opening-degree detecting means, during the receiving motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification