Information processing device, information processing method, and program
AssigneeSony Group Corporation
InventorSatoko Nagakari
Life of this patent
Estimating the term…
Abstract
An information processing device according to one aspect of the present technology detects a slip generated in an object being gripped by a finger portion constituting a grip portion, and estimates an external force and an external moment applied to the object on the basis of the slip generated in the object. In addition, the information processing device controls the operation of an arm portion on the basis of the estimated external force and external moment to adjust at least one of the position or the posture of the finger portion constituting the grip portion provided in the arm portion. The present technology can be applied to a control device of a robot hand.
Claims13
An information processing device comprising:
- circuitry including a CPU that is configured by execution of computer readable instructions to
- detect a slip generated in an object gripped by a finger portion constituting a grip portion that is provided on an arm portion;
- estimate an external force and an external moment applied to the object on a basis of the slip generated in the object;
- and
- control an operation of the arm portion on a basis of the external force and the external moment to adjust at least one of a position and a posture of the finger portion constituting the grip portion, wherein
- the finger portion includes an elastic body that comes into contact with the object when the object is gripped, and a pressure distribution sensor that detects a distribution of pressure applied to the elastic body, and
- the circuitry is further configured to
- detect an initial slip in which a fixed portion and a slip portion are mixed between the object and the elastic body on a basis of a detection result of the pressure distribution sensor, and
- estimate directions and amounts of the external force and the external moment applied to the object on a basis of a direction and an amount of the initial slip.
An information processing method performed by an information processing device, the method comprising:
- detecting a slip generated in an object gripped by a finger portion constituting a grip portion that is provided on an arm portion;
- estimating an external force and an external moment applied to the object on a basis of the slip generated in the object;
- and
- controlling an operation of the arm portion on a basis of the external force and the external moment to adjust at least one of a position and a posture of the finger portion constituting the grip portion, wherein
- the finger portion includes an elastic body that comes into contact with the object when the object is gripped, and a pressure distribution sensor that detects a distribution of pressure applied to the elastic body, and
- the method further comprises
- detecting an initial slip in which a fixed portion and a slip portion are mixed between the object and the elastic body on a basis of a detection result of the pressure distribution sensor, and
- estimating directions and amounts of the external force and the external moment applied to the object on a basis of a direction and an amount of the initial slip.
A non-transitory computer-readable medium storing program causing a computer to execute processing comprising:
- detecting a slip generated in an object gripped by a finger portion constituting a grip portion that is provided on an arm portion;
- estimating an external force and an external moment applied to the object on a basis of the slip generated in the object;
- and
- controlling an operation of the arm portion on a basis of the external force and the external moment to adjust at least one of a position and a posture of the finger portion constituting the grip, wherein
- the finger portion includes an elastic body that comes into contact with the object when the object is gripped, and a pressure distribution sensor that detects a distribution of pressure applied to the elastic body, and
- the processing further comprises
- detecting an initial slip in which a fixed portion and a slip portion are mixed between the object and the elastic body on a basis of a detection result of the pressure distribution sensor, and
- estimating directions and amounts of the external force and the external moment applied to the object on a basis of a direction and an amount of the initial slip.
Dependencies are inferred from the claim text.