Characteristic estimation system, characteristic estimation method, and information storage medium

A characteristic estimation method, comprising:

• causing a robot hand configured to grip an object to operate based on operation information defining an operation of the robot hand;
• acquiring a physical quantity that includes a torque signal at a time when the robot hand grips the object;
• and
• estimating a characteristic of the object based on a rise time of the torque signal, the characteristic being size, shape or hardness of the object,
• determining whether or not the rise time of the torque signal is earlier than a reference value, and
• determining that the object is larger than a standard when the rise time of the torque signal is earlier than the reference value and determining that the object is smaller than the standard when the rise time of the torque signal is later than the reference value, or
• determining that the object protrudes compared to a standard shape when the rise time of the torque signal is earlier than the reference value and determining that the object is recessed compared to the standard shape when the rise time of the torque signal is later than the reference value, and
• wherein the rise time is a timing at which the torque signal changes from a state in which a change in the torque signal is less than a threshold value before the robot hand touches the object to a state in which the robot hand touches the object and the change in the torque signal is equal to or more than the threshold value.

A non-transitory computer readable information storage medium storing a program for causing a computer to:

• acquire a physical quantity that includes a torque signal at a time when a robot hand, which is configured to grip an object and to operate based on operation information defining an operation of the robot hand, grips the object;
• and
• estimate a characteristic of the object based on a rise time of the torque signal, the characteristic being size, shape or hardness of the object;
• determine whether or not the rise time of the torque signal is earlier than a reference value, and
• determine that the object is larger than a standard when the rise time of the torque signal is earlier than the reference value and determine that the object is smaller than the standard when the rise time of the torque signal is later than the reference value, or
• determine that the object protrudes compared to a standard shape when the rise time of the torque signal is earlier than the reference value and determine that the object is recessed compared to the standard shape when the rise time of the torque signal is latter than the reference value, and
• wherein the rise time is a timing at which the torque signal changes from a state in which a change in the torque signal is less than a threshold value before the robot hand touches the object to a state in which the robot hand touches the object and the change in the torque signal is equal to or more than the threshold value.