Hand control system, method, program, hand, and robot
AssigneeHonda Motor Co., Ltd.
InventorsKazuyuki Takahashi, Tadaaki Hasegawa
Life of this patent
Estimating the term…
Abstract
According to the hand control system (2), the position and posture of a palm (10) are controlled such that the object reference point (Pw) and the hand reference point (Ph) come close to each other and such that the i-th object reference vector (αwi) and the i-th hand reference vector (αhi) come close to each other. During the controlling process of the position and posture of the palm, the operation of a specified finger mechanism is controlled such that the bending posture of the specified finger mechanism gradually changes (for example, such that the degree of bending gradually increases). This ensures accurate grasping of an object of an arbitrary shape.
Claims11
A hand control system controlling a grasping operation of an object by a hand extended from a base and having a plurality of finger mechanisms capable of bending and stretching, the system comprising:
- a first processor recognizing part or all of size, shape, position, and posture of the object, and recognizing an object reference point and an i-th (i=1, 2, . . . ) object reference vector having the object reference point as a starting point in accordance with the recognized information;
- a second processor recognizing position and posture of the base and bending posture of a specified finger mechanism from among the plurality of finger mechanisms, and recognizing a hand reference point and an i-th hand reference vector having the hand reference point as a starting point in accordance with the recognized information;
- a third processor controlling the position and posture of the base such that the object reference point and the i-th object reference vector recognized by the first processor and the hand reference point and the i-th hand reference vector recognized by the second processor come close to each other, respectively;
- and
- a fourth processor gradually changing the bending posture of the specified finger mechanism during the controlling process of the position and posture of the base by the third processor.
A method for controlling a grasping operation of an object by a hand extended from a base and having a plurality of finger mechanisms capable of bending and stretching, the method implementing:
- a first process of recognizing part or all of size, shape, position, and posture of the object, and recognizing an object reference point and an i-th (i=1, 2, . . . ) object reference vector having the object reference point as a starting point in accordance with the recognized information;
- a second process of recognizing position and posture of the base and bending posture of a specified finger mechanism from among the plurality of finger mechanisms, and recognizing a hand reference point and an i-th hand reference vector having the hand reference point as a starting point in accordance with the recognized information;
- a third process of controlling the position and posture of the base such that the object reference point and the i-th object reference vector recognized in the first process and the hand reference point and the i-th hand reference vector recognized in the second process come close to each other, respectively;
- and
- a fourth process of gradually changing the bending posture of the specified finger mechanism during the control of the position and posture of the base in the third process.
Dependencies are inferred from the claim text.