{
  "abstract": "An object holding method includes: a step of determining a center of a first object assumed to be held by an end effector for a plurality of holding postures which the end effector is able to take; a step of measuring a shape of a second object based on an image in which the second object is captured from a viewpoint; a step of selecting a holding posture when the end effector holds the second object from the holding postures based on centers of the second object and the first object; and a step of reducing a portion of the shape of the second object in a case where the end effector holds the second object by using the selected holding posture.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000000264",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 122
  },
  "figures": [],
  "files": [
    {
      "bytes": 9652,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "17ffc128bd75e1029bb9b973a1711b5a64cd8390644a2b61ec478f069f557443"
    },
    {
      "bytes": 1137,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "c5dfeb439b38a537adcdd95e54209b67c9419557e4515eb437bb6173eb756591"
    },
    {
      "bytes": 1209,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "06ba90c213848c314956e3199f3ffdf463ff977627911299c3e876f129c44e27"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000000264/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j9/1602",
    "b25j15/0009",
    "b25j9/1697",
    "g01b11/24",
    "g05b19/4155",
    "g05b2219/40269"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000000264",
  "published_at": "2026-09-15T19:02:40.705284Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-04-21",
  "source_id": "US-12605827-B2",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12605827B2",
  "supersedes": null,
  "title": "Object holding method and non-transitory computer readable medium",
  "uuid": "01a0a673-2b40-7ec1-8101-90f47042e143"
}