Title:
HAND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2018/008665
Kind Code:
A1
Abstract:
The present invention makes it possible to provide good grasping performance with low energy consumption. A hand robot control method comprises: a first step of causing, by energizing a plurality of motors for the fingers in a prescribed order, each joint corresponding to a motor to bend; a second step of placing a joint into a locked state with a one-way power transmission mechanism each time a detection is made by a tactile sensor means by de-energizing the motor of the joint corresponding to that tactile sensor means that has made the detection; a third step of causing the joint corresponding to the motor to bend by energizing the prescribed motor under the condition that all motors are de-energized; and a fourth step of placing all joints in a locked state by de-energizing all motors including the prescribed motor under the condition that the grasping force based on a detected value of the tactile sensor means is a target grasping force.
Inventors:
MOURI TETUYA (JP)
KAWASAKI HARUHISA (JP)
NAKAMURA KAZUYA (JP)
KOBAYASHI YASUYUKI (JP)
KAWASAKI HARUHISA (JP)
NAKAMURA KAZUYA (JP)
KOBAYASHI YASUYUKI (JP)
Application Number:
PCT/JP2017/024583
Publication Date:
January 11, 2018
Filing Date:
July 05, 2017
Export Citation:
Assignee:
NAMIKI PRECISION JEWEL CO LTD (JP)
UNIV GIFU (JP)
UNIV GIFU (JP)
International Classes:
B25J13/08; B25J15/08
Domestic Patent References:
| WO2012039479A1 | 2012-03-29 |
Foreign References:
| JP2005088147A | 2005-04-07 | |||
| JP2001287182A | 2001-10-16 | |||
| JPH0482683A | 1992-03-16 | |||
| JP2003245883A | 2003-09-02 |
Attorney, Agent or Firm:
EICHI PATENT & TRADEMARK CORP. (JP)
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