---
publication_id: "OT-2026-000001473"
title: "Picking System"
published_at: "2026-09-15T19:06:03.658342Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001473"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j13/08"
  - "b25j13/08"
  - "b25j13/088"
  - "b25j13/088"
---

# Picking System

## Abstract

The present invention estimates a gripping position that is more likely to satisfy a handling condition even when it is difficult to perform shape model comparison. A picking system 1 comprises a picking robot 3 that grips and moves an article 7 , and a control device 2 that controls the picking robot 3 . The control device 2 comprises: an image input unit that receives image data of the article 7 acquired by a sensor 4 ; an element reliability evaluation unit that evaluates a plurality of element reliabilities indicating an index of grippability for each physical element of the article 7 , on the basis of the image data; a gripping position estimation unit that estimates a gripping position of the picking robot 3 with respect to the article 7 on the basis of the plurality of element reliabilities; a handling information input unit that accepts handling information indicating a handling condition concerning movement and gripping of the article 7 to be gripped in the gripping position; and a recognition parameter estimation unit that estimates a recognition parameter that is used for the estimation of the gripping position by the gripping position estimation unit, on the basis of the handling information.