Control device, control method, and program
US8510063B2 · kind B2 · utility
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5Claims
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Key dates
| Filing date | Nov 18, 2009 |
| Grant date | Aug 13, 2013 |
| Priority date | — |
| Expiry date | Apr 28, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01N19/02
- WIPO fieldMeasurement
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.