ROBOTIC DEVICE
First Claim
1. A robotic device comprising:
- a first link portion;
a second link portion that moves relative to the first link portion;
a first contact load detecting portion that detects a contact load in a contact area of the first link portion;
a second contact load detecting portion that detects a contact load in a contact area of the second link portion; and
a first link portion control target setting portion that sets a control target for the first link portion,wherein the first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
49 Citations
15 Claims
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1. A robotic device comprising:
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a first link portion; a second link portion that moves relative to the first link portion; a first contact load detecting portion that detects a contact load in a contact area of the first link portion; a second contact load detecting portion that detects a contact load in a contact area of the second link portion; and a first link portion control target setting portion that sets a control target for the first link portion, wherein the first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
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2. A robotic device comprising:
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a first link portion; a second link portion that moves relative to the first link portion; a movement detecting portion that detects at least one of the position or the posture of the second link portion with respect to the first link portion; a first contact load detecting portion that detects a contact load in a contact area of the first link portion; a second contact load detecting portion that detects a contact load in a contact area of the second link portion; and a first link portion control target setting portion that sets a control target for the first link portion, wherein the first link portion control target setting portion sets the control target for the first link portion based on the detection value of the contact load of the first contact load detecting portion, the detection value of the contact load of the second contact load detecting portion, and at least one of the position or the posture of the second link portion with respect to the first link portion detected by the movement detecting portion.
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3. A robotic device comprising:
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an arm; a hand at the end of the arm; and an arm control target setting portion that sets a control target for the arm, wherein the hand includes a base portion that is attached to the end of the arm, at least one link portion capable of moving with respect to the base portion, a base pressing force detecting portion that detects pressing force at two or more points in a contact area of the base portion against a surface of an object, a link pressing force detecting portion that detects pressing force at a point in the contact area of the link portion against the surface of the object, and a link movement detecting portion that detects at least one of the position or the posture of the link portion with respect to the base portion; and wherein the arm control target setting portion sets the control target for the arm based on the pressing force at the point in the contact area of the base portion detected by the base pressing force detecting portion, the pressing force at the point in the contact area of the link portion detected by the link pressing force detecting portion, and at least one of the position or the posture of the link portion with respect to the base portion detected by the link movement detecting portion. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A control method of a robotic device provided with a first link portion and a second link portion that moves relative to the first link portion, comprising:
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detecting a contact load in a contact area of the first link portion; detecting a contact load in a contact area of the second link portion; and setting the control target for the first link portion such that the difference between the detection value of the contact load in the contact area of the first link portion and the detection value of the contact load in the contact area of the second link portion decreases.
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14. A control method of a robotic device provided with a first link portion and a second link portion that moves relative to the first link portion, comprising:
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detecting at least one of the position or the posture of the second link portion with respect to the first link portion; detecting a contact load in a contact area of the first link portion; detecting a contact load in a contact area of the second link portion; and setting the control target for the first link portion based on the detection value of the contact load in the contact area of the first link portion, the detection value of the contact load in the contact area of the second link portion, and at least one of the position or the posture of the second link portion with respect to the first link portion.
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15. A control method of a robotic device provided with an arm and a hand which is provided at the end of the arm and has a base portion that is attached to the end of the arm, and at least one link portion that is capable of moving with respect to the base portion, comprising:
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detecting pressing force at two or more points in a contact area of the base portion against a surface of an object; detecting pressing force at a point in a contact area of the link portion against the surface of the object; detecting at least one of the position or the posture of the link portion with respect to the base portion; and setting the control target for the arm based on the detected pressing force at the point in the contact area of the base portion, the detected pressing force at the point in the contact area of the link portion, and at least one of the detected position or the detected posture of the link portion with respect to the base portion.
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Specification