Robot hand and humanoid robot having the same
AssigneeSamsung Electronics Co., Ltd.
InventorsJi Young KIM, Kwang Kyu LEE, Young Do KWON, Kyung Shik ROH
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Abstract
Disclosed herein is a control method of a robot hand including recognizing a pre-posture of user's fingers using a master device, changing the shape of the robot hand according to the recognized pre-posture, recognizing a gripping motion of the user's fingers using the master device, and executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.
Claims22
A control method of a robot hand comprising:
- recognizing, by one or more processors, a pre-posture of a user's fingers using a master device;
- changing the shape of the robot hand according to the recognized pre-posture;
- recognizing a gripping motion of the user's fingers using the master device;
- and
- executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.
A control method of a robot hand comprising:
- recognizing, by one or more processors, a pre-posture of a user's fingers using a master device;
- judging a gripping posture desired by the user from the recognized pre-posture;
- changing the shape of the robot hand according to the recognized pre-posture;
- recognizing a gripping motion of the user's fingers using the master device;
- and
- executing a gripping motion of the robot hand according to the gripping posture desired by the user.
A control method of a robot hand comprising:
- recognizing, by one or more processors, a pre-posture of a user's fingers using a master device;
- storing a pre-posture of the robot hand corresponding to the recognized pre-posture;
- recognizing a gripping posture of the user's finger using the master device;
- storing a gripping posture of the robot hand corresponding to the recognized gripping posture;
- and
- interpolating between the pre-posture of the robot hand and the gripping posture of the robot hand.
A control method of a robot hand comprising:
- recognizing, by one or more processors, a pre-posture of a user's fingers using a master device;
- changing the shape of the robot hand according to the recognized pre-posture;
- and
- maintaining the shape of the robot hand when amount of changing of angles of joints of the user's fingers in the recognized pre-posture are smaller than a reference amount of changing.
A control apparatus of a robot hand comprising:
- an input unit to receive information of a pre-posture of a user's fingers and a gripping motion of the user's fingers;
- a storage unit to store a fixed posture of the robot hand;
- a controller to control the overall operation of the robot hand;
- and
- a plurality of driving units to drive respective joints of the robot hand,
- wherein the controller controls each of the driving units to drive respective joints of the robot hand to changing the shape of the robot hand according to the recognized pre-posture and to execute a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.
Dependencies are inferred from the claim text.