Control apparatus of multi-finger hand and grasping method using the same
US8346393B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 11, 2009 |
| Grant date | Jan 1, 2013 |
| Priority date | — |
| Expiry date | Apr 1, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39524
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.