Control device, control method and program
AssigneeSony Corporation
InventorsToshimitsu Tsuboi, Takeo Kishida
Life of this patent
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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.
Claims10
A control device comprising circuitry configured to detect an object grasped between a first portion and a second portion of a robot device based on at least a friction coefficient related to the first and second portions, wherein the circuitry is configured to estimate whether the object is a thin-film-like object or a non-thin-film like object based on position information of the first portion and the second portion of the robot device.
A method comprising:
- detecting, via a microprocessor of a robot device, an object grasped between a first portion and a second portion of the robot device based on at least a friction coefficient related to each portion, and estimating, via the microprocessor, whether the object is a thin-film-like object or a non-thin-film-like object based on position information of the first portion and second portion of the robot device.
A non-transitory, computer-readable medium including instructions which, when executed by a processor, cause the processor to detect an object grasped between a first portion and a second portion of a robot device based at least on a friction coefficient related to each portion, wherein the processor is configured to estimate whether the object is a thin-film-like object or a non-thin-film like object based on position information of the first portion and the second portion of the robot device.
A robot system comprising:
- a base unit:
- a first portion and a second portion coupled to the base unit;
- and
- circuitry configured to detect an object grasped between the first portion and the second portion of the robot device, based at least on a friction coefficient related to each portion, wherein the circuitry is configured to estimate whether the object is a thin-film-like object or a non-thin-film like object based on position information of the first portion and the second portion of the robot device.
Dependencies are inferred from the claim text.