Robot and control method thereof

A method of controlling a robot, the method comprising:

• receiving instructions from a master device based on a respective movement of a master hand and a master arm by a remote user of the robot;
• determining, by a processor, whether the robot hand grips an object at a sufficient force to hold the object from a gripping information obtained from a grip sensor unit;
• selecting, by the processor, according to a result of the determination, one of two coordinate systems to utilize to control the robot hand and the robot arm based on whether the determining determines that robot hand is gripping the object at the sufficient force, the two coordinate systems including an object-based coordinate and an independent coordinate, the object-based coordinate configured to control the robot hand and a robot arm based on a motion of a virtual object representing an estimate of a motion of the object such that the robot hand and the robot arm move indirectly based on the estimated motion of the object rather than directly to the instructions from the remote user via the movement of the master hand and the master arm, respectively, and the independent coordinate independently controls the robot hand and the robot arm such that the robot hand and robot arm respond directly to the instructions from the remote user via the movement of the master hand and the master arm, respectively;
• controlling, by the processor, the robot hand and the robot arm based on the selected coordinate and the instructions received from a remote user of the robot;
• and
• at the object-based coordinate, calculating a position and a direction of the virtual object, and delivering information about the position and the direction of the virtual object calculated to a grip control unit.

A grip control device for a robot connected to master device, the master device including a master hand and a master arm controlled by a remote user, the grip control device comprising:

• a grip sensor unit configured to enable a robot hand to sense an object;
• a grip control unit configured to,
• determine whether the robot hand grips the object at a sufficient force to hold the object from a gripping information obtained from the grip sensor unit,
• select, according to a result of the determination, one of two coordinate systems to utilize to control the robot hand and the robot arm based on whether the determining determines that robot hand is gripping the object at the sufficient force, the two coordinate systems including an object-based coordinate and an independent coordinate, the object-based coordinate configured to control a robot hand and a robot arm of the robot based on a motion of a virtual object representing an estimate of a motion of the object such that the robot hand and the robot arm move indirectly based on the estimated motion of the object rather than directly to the instructions from the remote user via the movement of the master hand and the master arm, respectively, and the independent coordinate is configured to independently control a movement of the robot hand and the robot arm of the robot such that the robot hand and robot arm respond directly to the instructions from the remote user via the movement of the master hand and the master arm, respectively, and
• control a movement of the robot hand and the robot arm of the robot based on the selected coordinate and instructions received from the remote user of the robot.

A method of controlling a robot via master device including a master hand and a master arm controlled by a remote user, the method comprising:

• determining, by a processor, whether a robot hand of the robot grips an object at a sufficient force to hold the object;
• selecting, by the processor, according to a result of the determination, one of two coordinate systems to utilize to control the robot hand and the robot arm based on whether the determining determines that robot hand is gripping the object at the sufficient force, the two coordinate systems including an object-based coordinate and an independent coordinate, the object-based coordinate configured to control the robot hand and a robot arm of the robot based on a motion of a virtual object representing an estimate of a motion of the object such that the robot hand and the robot arm move indirectly based on the estimated motion of the object rather than directly to the instructions from the remote user via the movement of the master hand and the master arm, respectively, and the independent coordinate independently controls the hand and the arm such that the robot hand and robot arm respond directly to the instructions from the remote user via the movement of the master hand and the master arm, respectively;
• and
• controlling, by the processor, the robot hand and the robot arm based on the selected coordinate and instructions received from the remote user of the robot.