Control device, control method, and program
AssigneeSony Corporation
InventorsToshimitsu Tsuboi, Takeo Kishida
Life of this patent
Estimating the term…
Abstract
A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
Claims5
A control device comprising:
- a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force;
- and
- an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and for detecting whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
A control method comprising the steps of:
- detecting, using a force detector, a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force;
- and
- calculating, using an object detector, a friction coefficient using the detected normal force and the detected shearing force and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
A non-transitory, computer-readable medium comprising instructions for executing a control process that includes the steps of:
- causing a computer to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force;
- and
- causing the computer to calculate a friction coefficient using the detected normal force and the detected shearing force and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
Dependencies are inferred from the claim text.