(12) United States Patent (10) Patent No.: US 8,160,745 B2 Sugiura (45) Date of Patent: Apr. 17, 2012 (54) ROBOTS WITH OCCLUSION AVOIDANCE 6,687,571 131* 2/2004 Byrne et A1. ................ .. 700/245
A method for controlling a robot having at least one visual sensor. A target for a motion of the robot is defined. A motion control signal adapted for the robot reaching the target is calculated. A collision avoidance control signal based on the closest points of segments of the robot and a virtual object betWeen the visual sensing means and the target is calculated. The motion control signal and the collision avoidance control signal are Weighted and combined. The Weight of the motion control signal is higher When a calculated collision risk is loWer. The motion of the robot is controlled according to the combined signal so that no segment of the robot enters the space defined by the virtual object.
13 Claims, 4 Drawing Sheets