×

Robot and robot system

  • US 10,532,461 B2
  • Filed: 04/24/2017
  • Issued: 01/14/2020
  • Est. Priority Date: 04/28/2016
  • Status: Active Grant
First Claim
Patent Images

1. A robot comprising:

  • an arm;

    an end effector disposed on a distal end of the arm;

    a force detector disposed between the arm and the end effector and being configured to detect a force; and

    a controller configured to control the arm and the end effector based on an output from the force detector,wherein the end effector includes a first finger and a second finger, and the controller independently controls the first finger to move in a gravity direction and the second finger to move in a direction opposite the gravity direction,wherein a first object is held from both of the gravity direction and the direction opposite to the gravity direction by the first finger and the second finger, and the first object is inserted into an insertion portion provided in a second object,based on an output of the force detector, the controller determines when a positional relationship between the first object and the end effector does not shift in the gravity direction and controls the first finger to remain still and the second finger to move in the direction opposite the gravity direction.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×