---
publication_id: "OT-2026-000001021"
title: "Robot control based on skeleton of workpiece"
published_at: "2026-09-15T19:03:44.979573Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001021"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j19/02"
  - "b25j19/023"
  - "b25j19/023"
---

# Robot control based on skeleton of workpiece

## Abstract

A robot system includes circuitry configured to: acquire a workpiece image showing a workpiece present in real space; estimate skeleton information indicating a skeleton of the workpiece based on the workpiece image; acquire constraint information representing a constraint regarding a task to be performed on the workpiece; determine a completion state of the task based on the acquired constraint information and the estimated skeleton information; and cause a robot placed in the real space to perform the task in accordance with the determined completion state.