Control device, control method, and program
AssigneeSony Group Corporation
InventorsTetsuya Narita, Satoko Nagakari
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to a control device, a control method, and a program capable of supporting an object with a more appropriate supporting force. The control device includes a supporting force control unit that controls a supporting force for supporting an object on the basis of information regarding a shape of a contact portion in contact with the object and information regarding a shear force of the contact portion. The information regarding the shear force includes, for example, information regarding a shear displacement of the contact portion. The present disclosure can be applied to, for example, a control device, a control method, an electronic device, a robot, a support system, a gripping system, a program, and the like.
Claims22
A control device comprising:
- a supporting force control unit configured to control a supporting force by driving one or more actuators of a gripping device to provide the supporting force for supporting an object via a plurality of contact portions of a contact surface of the gripping device, the supporting force being controlled based on
- information regarding a respective shape of each respective contact portion of the contact surface where the supporting force is transmitted from the one or more actuators to the object through contact with the object, and
- information regarding a respective shear force detected between each respective contact portion and the object at a plurality of positions of the respective contact portion,
- wherein the information regarding the respective shear force is detected in relation to a center of a pressure detected for each respective contact portion,
- wherein the supporting force control unit controls the supporting force based on a sticking ratio between a partial region where static friction is generated on the contact surface and a partial region where dynamic friction is generated on the contact surface, and
- wherein the supporting force control unit is implemented via at least one processor.
A control method comprising
- controlling a supporting force by driving one or more actuators of a gripping device to provide the supporting force for supporting an object via a plurality of contact portions of a contact surface of the gripping device, the supporting force being controlled based on
- information regarding a respective shape of each respective contact portion of the contact surface where the supporting force is transmitted from the one or more actuators to the object through contact with the object, and
- information regarding a respective shear force detected between each respective contact portion and the object at a plurality of positions of the respective contact portion,
- wherein the information regarding the respective shear force is detected in relation to a center of a pressure detected for each respective contact portion, and
- wherein the supporting force is controlled based on a sticking ratio between a partial region where static friction is generated on the contact surface and a partial region where dynamic friction is generated on the contact surface.
A non-transitory computer-readable storage medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising:
- controlling a supporting force by driving one or more actuators of a gripping device to provide the supporting force for supporting an object via a plurality of contact portions of a contact surface of the gripping device, the supporting force being controlled based on
- information regarding a respective shape of each respective contact portion of the contact surface where the supporting force is transmitted from the one or more actuators to the object through contact with the object, and
- information regarding a respective shear force detected between each respective contact portion and the object at a plurality of positions of the respective contact portion,
- wherein the information regarding the respective shear force is detected in relation to a center of a pressure detected for each respective contact portion, and
- wherein the supporting force is controlled based on a sticking ratio between a partial region where static friction is generated on the contact surface and a partial region where dynamic friction is generated on the contact surface.
Dependencies are inferred from the claim text.