Gripper control device, gripper control method, and gripper simulation device

A gripper control method for controlling a gripper control device that includes a gripper that grasps an object with a plurality of fingers, wherein the gripper control device comprises a controller and a memory storing a program that, based on the program, is configured to conduct a grasp quality evaluation process to obtain a grasp quality contribution degree for each of a plurality of contact positions at which multiple fingers that support the object are in contact with the object, the grasp quality contribution degree indicating contribution degree to the grasp stability of the object, a finger-to-be-moved determination process to determine, as a finger-to-be-moved, at least one of the fingers corresponding to at least one of the contact positions at which the grasp quality contribution degree is low, and a finger movement control process to send a control command to a finger driving apparatus, the control command being one for moving the determined finger-to-be-moved with respect to the object, the method comprising:

• obtaining the grasp quality contribution degree;
• determining the finger-to-be-moved;
• and
• sending the control command to the finger driving apparatus to move the determined finger-to-be-moved with respect to the object,
• wherein the grasp quality contribution degree for each contact position is defined by using at least one of the following elements:
• relative locations of the plurality of contact positions related to the object and friction coefficients between the object and the fingers respectively at the plurality of contact positions.

A gripper simulation device for simulating a gripper that grasps an object with a plurality of fingers, the gripper simulation device comprising:

• a controller;
• and
• a memory storing a program, based on the program, the controller is configured to conduct:
• a grasp quality evaluation process configured to obtain a grasp quality contribution degree for each of a plurality of contact positions at which multiple fingers that support the object are in contact with the object, the grasp quality contribution degree indicating contribution degree to grasp stability of the object;
• and
• a finger-to-be-moved determination process to determine, as a finger-to-be-moved to be moved with respect to the object, at least one of the fingers corresponding to at least one of the contact positions at which the grasp quality contribution degree is low, wherein
• the grasp quality contribution degree for each of the plurality of contact positions is defined using at least one of the following elements:
• relative locations of the plurality of contact positions related to the object;
• and friction coefficients between the object and the fingers respectively at the plurality of contact positions.