| CPC B25J 9/1664 (2013.01) [B25J 9/1697 (2013.01)] | 7 Claims |
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1. A robot control device that controls a robot that operates an operation object to be operated, to transition from a state in which the operation object is away from an object of interest located in an environment to a completion state in which the operation object is in contact with the object of interest in a specific manner, the robot control device comprising:
a target state setting unit that sets an intermediate target state or the completion state as a target state of current movement, the intermediate target state being a target state in a middle of movement of the operation object until reaching the completion state;
an observation unit that acquires an observation result via a sensor regarding a position and a posture of the operation object and presence or absence of contact between the operation object and the object of interest;
a particle set setting unit that sets a set of particles representing uncertainty of the position and the posture of the operation object, each of the particles included in the set of particles representing one of possible positions and postures of the operation object;
a particle set adjusting unit that increases a weight of a particle for a particle representing a position and a posture closer to a position and a posture of the operation object indicated by the observation result among the particles, and increases a weight of a corresponding particle for a particle closer to a state in which the object of interest and the operation object arranged in a position and a posture represented by each of the particles are in contact with each other in a virtual space where shapes and a relative positional relationship of the object of interest and the operation object are expressed in a case in which the observation result indicates that the contact has occurred;
a state estimation unit that calculates an estimated state that is a position and a posture of the operation object estimated based on the set of particles in which a weight of each of the particles is adjusted;
an action planning unit that plans an action for moving the operation object from the estimated state to the target state of the current movement;
an action unit that commands the robot to execute the planned action; and
a processing control unit that repeats setting of the target state, acquisition of the observation result, setting of the set of particles, adjustment of the set of particles, calculation of the estimated state, planning of the action, and execution of the action until the estimated state coincides with the completion state within a predetermined error.
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