Back to results
US 12,703,113 B2Granted
Hand, handling robot, control device, method for controlling hand, and storage medium
AssigneeKabushiki Kaisha Toshiba
InventorsYoshifumi Oka, Haruna Eto, Harutoshi Chatani, Seiji Tokura, Akihito Ogawa
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a hand includes a gripper, a driver, and a controller. The gripper is configured to grip an object. The driver drives the gripper. When a stability when gripping the object is estimated, the controller causes the driver to perform a first motion to increase the stability. The stability is estimated based on contact information of the gripper for the object, and characteristic information including at least one of a size or a weight of the object.
Claims24
A hand, comprising:
- a gripper configured to grip an object;
- a driver configured to drive the gripper;
- and
- a controller configured to
- generate a gripping plan using an image of the object, the gripping plan including a grip position and a grip posture,
- after generating the gripping plan that includes the grip position and the grip posture, cause the driver to drive the gripper to the grip position and the grip posture,
- after generating the gripping plan that includes the grip position and the grip posture, estimate a stability when gripping the object, the stability being estimated based on contact information of the gripper for the object and characteristic information including at least one of a size or a weight of the object, the contact information being generated at the grip position and in the grip posture,
- cause the driver to perform a first motion to increase the stability in a case where the stability is estimated and does not exceed a first threshold, and
- during the first motion, determine that a gripping motion is completed in a case where the stability exceeds the first threshold.
6 more elements
A control device of a hand, the hand including:
- a gripper configured to grip an object;
- and
- a driver configured to drive the gripper, the control device comprising:
- circuitry configured to
- generate a gripping plan using an image of the object, the gripping plan including a grip position and a grip posture,
- after generating the gripping plan that includes the grip position and the grip posture, cause the driver to drive the gripper to the grip position and the grip posture,
- after generating the gripping plan that includes the grip position and the grip posture, estimate a stability when gripping the object, the stability being estimated based on contact information of the hand for the object and characteristic information including at least one of a size or a weight of the object, the contact information being generated at the grip position and the grip posture,
- cause the driver to perform a first motion to increase the stability in a case where the stability is estimated and does not exceed a first threshold, and
- during the first motion, determine that a gripping motion is completed in a case where the stability exceeds the first threshold.
6 more elements
A method for controlling a hand, the hand including:
- a gripper configured to grip an object;
- and
- a driver configured to drive the gripper, the method comprising:
- generating a gripping plan using an image of the object, the gripping plan including a grip position and a grip posture;
- after generating the gripping plan that includes the grip position and the grip posture, causing the driver to drive the gripper to the grip position and the grip posture;
- after generating the gripping plan that includes the grip position and the grip posture, estimating a stability when gripping the object, the stability being estimated based on contact information of the gripper for the object and characteristic information including at least one of a size or a weight of the object, the contact information being generated at the grip position and the grip posture;
- causing the driver to perform a first motion to increase the stability in a case where the stability is estimated and the stability does not exceed a first threshold;
- and
- during the first motion, determining that a gripping motion is completed in a case where the stability exceeds the first threshold.
6 more elements
Dependencies are inferred from the claim text.