Robot hand and method of controlling the same
US8909376B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 27, 2009 |
| Grant date | Dec 9, 2014 |
| Priority date | — |
| Expiry date | Nov 29, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39492
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.