---
publication_id: "OT-2026-000000264"
title: "Object holding method and non-transitory computer readable medium"
published_at: "2026-09-15T19:02:40.705284Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000264"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1602"
  - "b25j15/0009"
  - "b25j9/1697"
  - "g01b11/24"
  - "g05b19/4155"
  - "g05b2219/40269"
---

# Object holding method and non-transitory computer readable medium

## 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.