ROBOT APPARATUS AND GRIPPING METHOD FOR USE IN ROBOT APPARATUS
First Claim
1. A robot apparatus comprising:
- a robot arm;
a multi-fingered hand disposed at an end of the robot arm and including at least one fingertip force sensor for use in force control;
an information acquiring unit that acquires at least location information on a target by an input from a user or by detection made by a detection unit; and
a controller that moves the robot arm to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects a contact location of actual contact with the target on the basis of an output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of information indicating the detected contact location.
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Accused Products
Abstract
A robot apparatus includes a robot arm, a multi-fingered hand disposed at an end of the robot arm and including a force sensor for use in force control, an image processor that acquires at least location information on a gripping target by detection made by a visual sensor, and a control device that moves the robot arm on the basis of the at least location information on the gripping target acquired by the image processor to cause the multi-fingered hand to approach the gripping target, detects a contact location of actual contact with the gripping target on the basis of an output of the force sensor of the multi-fingered hand, and modifies the location information on the gripping target on the basis of information indicating the detected contact location.
50 Citations
10 Claims
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1. A robot apparatus comprising:
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a robot arm; a multi-fingered hand disposed at an end of the robot arm and including at least one fingertip force sensor for use in force control; an information acquiring unit that acquires at least location information on a target by an input from a user or by detection made by a detection unit; and a controller that moves the robot arm to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects a contact location of actual contact with the target on the basis of an output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of information indicating the detected contact location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A gripping method for use in a robot apparatus including a robot arm having an end on which a multi-fingered hand including a fingertip force sensor is disposed, the gripping method comprising the steps of:
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acquiring at least location information on a target; moving the robot arm on the basis of the at least acquired location information on the target to cause the multi-fingered hand at the end of the robot arm to approach the target and detecting a contact location of actual contact with the target on the basis of an output of the fingertip force sensor of the multi-fingered hand; and modifying the location information on the target on the basis of information indicating the detected contact location.
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Specification