US Patent 9156162 Information processing apparatus and information processing method

The positions and orientations of one or more target objects are obtained from the result of measuring a set of target objects by using a first sensor. A robot including a grip unit is controlled to grip one target object as a gripping target object among the target objects by the grip unit. Whether the grip unit has succeeded in gripping the gripping target object is determined from the result of measurement performed by a second sensor for measuring the target object gripped by the grip unit. When the grip unit has been determined to fail in gripping the gripping target object, one target object interacting with the gripping target object is selected among the target objects. The robot is controlled to grip the selected target object by the grip unit.