GRIPPING INFORMATION ACQUISITION DEVICE, ROBOT TEACHING DEVICE AND ROBOT CONTROLLER, AND GRIPPING INFORMATION ACQUISITION METHOD, AND ROBOT TEACHING METHOD AND ROBOT CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To accurately and easily acquire information associated with a gripping form in which a person grips an article in his or her hand.;SOLUTION: A gripping information acquisition device 3 comprises: an infrared image acquisition unit 11 which acquires an infrared image generated by imaging an object gripped in a person's hand in a predetermined gripping form by an infrared camera C after the object being released from being gripped in the hand; a thermal trace extraction unit 12 which extracts a thermal trace of the hand left on a surface of the object from the infrared image; a thermal trace feature quantity extraction unit 13 which extracts a feature quantity of the thermal trace; a tutor data acquisition unit 14 which acquires tutor data corresponding to a predetermined gripping form; and an identifier generation unit 15 which generates an identifier 16 for identifying the gripping form corresponding to the feature quantity of the thermal trace through machine learning of the feature quantity of the thermal trace and the tutor data.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2017,JPO&INPIT