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US 12,734,683 B2Granted
Gripping control device and gripping control method
AssigneeSony Group Corporation
InventorsSatoko Mizutani, Yasuhiro Matsuda
Life of this patent
Estimating the term…
Abstract
A gripping control device according to the present disclosure includes: a detector that detects displacement in a normal direction of each of a plurality of elastic bodies each having a curved surface shape, the plurality of elastic bodies provided for each of a plurality of fingertips that is in contact with a gripped object; and a calculation section that calculates a contact surface normal of each of the fingertips to the gripped object on the basis of a result of detection by the detector.
Claims21
A gripping control device comprising:
- circuitry configured to
- calculate displacement in a normal direction of each of a plurality of elastic bodies each having a curved surface shape, the plurality of elastic bodies provided for each of a plurality of fingertips of a gripping device that is in contact with a gripped object;
- calculate a contact surface normal of each of the plurality of fingertips to the gripped object by approximating a spatial distribution of the plurality of the displacements in the normal direction to a plane to determine an inclination of a contact surface of each of the plurality of fingertips relative to a coordinate axis of the fingertips, the contact surface normal being calculated based on the determined inclination;
- and
- control the gripping device using the calculated contact surface normal of each of the plurality of fingertips to the gripped object.
2 more elements
A gripping control method comprising:
- detecting displacement in a normal direction of each of a plurality of elastic bodies each having a curved surface shape, the plurality of elastic bodies provided for each of a plurality of fingertips of a gripping device that is in contact with a gripped object;
- calculating, using circuitry, a contact surface normal of each of the plurality of fingertips to the gripped object by approximating a spatial distribution of the plurality of the displacements in the normal direction to a plane to determine an inclination of a contact surface of each of the plurality of fingertips relative to a coordinate axis of the fingertips, the contact surface normal being calculated based on the determined inclination;
- and
- controlling, using the circuitry, the gripping device using the calculated contact surface normal of each of the plurality of fingertips to the gripped object.
1 more element
Dependencies are inferred from the claim text.