Title:
GRIPPING CONTROL DEVICE AND GRIPPING CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2023/062941
Kind Code:
A1
Abstract:
A gripping control device according to the present disclosure comprises: a detection unit that detects displacement in the normal direction of each of a plurality of elastic bodies having a curved surface shape and provided at each of a plurality of fingertips that contact a gripped object; and a calculation unit that calculates, on the basis of a detection result from the detection unit, a contact surface normal vector of each fingertip with respect to the gripped object.
Inventors:
MIZUTANI SATOKO (JP)
MATSUDA YASUHIRO (JP)
MATSUDA YASUHIRO (JP)
Application Number:
PCT/JP2022/031538
Publication Date:
April 20, 2023
Filing Date:
August 22, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
B25J13/08; B25J15/08; B25J19/02
Domestic Patent References:
| WO2020246263A1 | 2020-12-10 | |||
| WO2022039058A1 | 2022-02-24 |
Foreign References:
| JPH01316194A | 1989-12-21 | |||
| JP2017177294A | 2017-10-05 | |||
| JP2000254884A | 2000-09-19 |
Attorney, Agent or Firm:
TSUBASA PATENT PROFESSIONAL CORPORATION (JP)
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