Robot for gripping an object using dual fingers and object grip method thereof

A robot comprising:

• a first finger comprising:
• a first contact part;
• a first light emitter configured to radiate light toward the first contact part;
• a first camera configured to capture an image in a direction corresponding to a location of the first contact part;
• and
• a first polarization filter between the first light emitter and the first contact part, wherein the first polarization filter is configured to pass light polarized in a first direction, from among the light radiated by the first light emitter, to the first contact part based on a voltage applied to the first polarization filter;
• a second finger comprising:
• a second contact part;
• a second light emitter configured to radiate light toward the second contact part;
• a second camera configured to capture an image in a direction corresponding to a location of the second contact part;
• and
• a second polarization filter interposed between the second light emitter and the second contact part, wherein the second polarization filter is configured to pass light polarized in a second direction, from among the light radiated by the second light emitter, to the second contact part based on a voltage applied to the second polarization filter, and wherein the second direction is perpendicular to the first direction;
• a driver configured to cause the first finger and the second finger to move;
• and
• at least one processor operatively connected with the first light emitter, the first camera, the first polarization filter, the second light emitter, the second camera, the second polarization filter, and the driver,
• wherein the at least one processor is configured to:
• obtain a first image through the first camera and a second image through the second camera by controlling an activation state of at least one of the first light emitter, the second light emitter, the first polarization filter, and the second polarization filter, and
• based on identifying the presence of an object positioned between the first contact part and the second contact part based on the first image and the second image, control the driver to cause the first finger and the second finger to grip the object and to maintain within a pre-set range, based on the first image and the second image, a difference between a first distance and a second distance, and
• wherein the first distance is a distance between the first contact part and the object and the second distance is a distance between the second contact part and the object.