Robot hand and control method of the same
AssigneeSamsung Electronics Co., Ltd.
InventorsCheoggyu Hwang, Jinho Choi, Jinwoong Kim, Jinsoo Jeong
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Abstract
A robot hand including a first gripper and a second gripper and a method of controlling a robot hand are provided. The method includes: recognizing a shape of an object through a camera; changing, based on the recognized shape of the object, a grasping orientation of the first gripper and the second gripper; grasping the object using the first gripper and the second gripper; and rotating the first gripper and the second gripper to change an orientation of the object according to a target position for the object to be seated.
Claims18
A method of controlling a robot hand comprising a first gripper and a second gripper, the method comprising:
- recognizing a shape of an object through a camera;
- changing, based on the recognized shape of the object, a grasping orientation of at least one of the first gripper and the second gripper;
- grasping the object using the first gripper and the second gripper;
- and
- rotating the first gripper and the second gripper to change an orientation of the object according to a target position for the object to be seated,
- wherein the first gripper comprises:
- a first grasping part;
- a second grasping part;
- and
- a third grasping part between the first grasping part and the second grasping part, and
- wherein the second gripper comprises:
- a fourth grasping part facing the first gripper;
- a fifth grasping part;
- and
- a sixth grasping part between the fourth grasping part and the fifth grasping part.
A robot hand comprising:
- a supporting part;
- a first linking part and a second linking part expandably connected, respectively, at opposite sides of the supporting part;
- a first finger part comprising a first back end which is connected to the first linking part;
- a second finger part comprising a second back end which is connected to the second linking part, wherein the second finger part is parallel to the first finger part;
- a first gripper rotatably connected to a first front end of the first finger part;
- a second gripper rotatably connected to a second front end of the second finger part and facing the first gripper;
- a first driver configured to expandably drive the first linking part and the second linking part;
- a second driver configured to drive the first gripper to rotate;
- and
- a third driver configured to drive the second gripper to rotate,
- wherein the first gripper comprises:
- a first grasping part;
- a second grasping part;
- and
- a third grasping part between the first grasping part and the second grasping part, and
- wherein the second gripper comprises:
- a fourth grasping part facing the first gripper;
- a fifth grasping part;
- and
- a sixth grasping part between the fourth grasping part and the fifth grasping part.
A service robot comprising:
- a base;
- a stand connected to and disposed vertically to the base;
- a first arm connected to the stand;
- a second arm rotatably connected to the first arm;
- a robot hand connected to the second arm and comprising a first gripper and a second gripper;
- and
- at least one processor configured to:
- recognize a shape of an object based on an image of the object, and
- control the robot hand to grasp the object by changing a grasping orientation of the first gripper and the second gripper according to a recognition result,
- wherein the first gripper comprises:
- a first grasping part;
- a second grasping part;
- and
- a third grasping part between the first grasping part and the second grasping part, and
- wherein the second gripper comprises:
- a fourth grasping part facing the first gripper;
- a fifth grasping part;
- and
- a sixth grasping part between the fourth grasping part and the fifth grasping part.
Dependencies are inferred from the claim text.