Control device, control method, and control program
AssigneeSony Group Corporation
InventorsSatoko Nagakari, Tetsuya Narita
Life of this patent
Estimating the term…
Abstract
Provided are a control device, a control method, and a control program capable of realizing natural interaction between a human and a robot like between humans. A control device according to an embodiment includes a slip detection unit (15, 104) and a control unit (10). The slip detection unit detects a slip of a target object gripped by a grip portion. The control unit controls a gripping force with which the grip portion grips the target object based on the slip detected by the slip detection unit. The control unit estimates an external force applied to the target object gripped by the grip portion based on the slip detected by the slip detection unit, and controls the gripping force based on the estimated external force.
Claims14
A control device comprising:
- a slip detection unit configured to detect a slip of a target object gripped by a grip portion;
- and
- a control unit configured to
- control a gripping force with which the grip portion grips the target object based on the slip detected by the slip detection unit, and
- estimate an external force applied to the target object gripped by the grip portion based on the slip detected by the slip detection unit,
- wherein the control unit controls the gripping force based on the estimated external force
- wherein the external force is estimated based on a transverse elastic coefficient and a longitudinal elastic coefficient of the grip portion, and
- wherein the slip detection unit and the control unit are each implemented via at least one processor.
A control method comprising:
- detecting, by a slip detection unit, a slip of a target object gripped by a grip portion;
- and
- controlling, by a control unit, a gripping force with which the grip portion grips the target object based on the slip detected in the slip detection step,
- wherein controlling the gripping force includes
- estimating an external force applied to the target object gripped by the grip portion based on the slip detected in the slip detection step, and
- controlling the gripping force based on the estimated external force, and
- wherein the external force is estimated based on a transverse elastic coefficient and a longitudinal elastic coefficient of the grip portion.
A non-transitory computer-readable storage medium having embodied thereon a control program, which when executed by a processor of a computer causes the processor to execute a method, the method comprising:
- detecting a slip of a target object gripped by a grip portion;
- and
- controlling a gripping force with which the grip portion grips the target object based on the slip detected in the slip detection step,
- wherein controlling the gripping force includes
- estimating an external force applied to the target object gripped by the grip portion based on the slip detected in the slip detection step, and
- controlling the gripping force based on the estimated external force, and
- wherein the external force is estimated based on a transverse elastic coefficient and a longitudinal elastic coefficient of the grip portion.
Dependencies are inferred from the claim text.