Control of robot hand to contact an object
US9333648B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 18, 2011 |
| Grant date | May 10, 2016 |
| Priority date | — |
| Expiry date | Aug 14, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39532
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.