Title:
GRASPING DEVICE, CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2021/124388
Kind Code:
A1
Abstract:
A grasping device comprising: a grasping part module having a first surface and a second surface, the grasping part module grasping an object between the first surface and the second surface; an arm part that varies the position of the grasping part module; an imaging unit provided at a position that moves together with the grasping part module, the imaging unit capturing an image of at least part of the object; and a control unit that, on the basis of specified amount information indicating the contact state when the first surface has come into contact with a specified amount of the object, and information indicating the contact state captured by the imaging unit, can control the grasping part module and/or the arm part so that the amount of the object that is grasped approaches the specified amount.
Inventors:
YAMAGUCHI AKIHIKO (JP)
Application Number:
PCT/JP2019/049141
Publication Date:
June 24, 2021
Filing Date:
December 16, 2019
Export Citation:
Assignee:
UNIV TOHOKU (JP)
International Classes:
B25J13/08; B25J15/08
Foreign References:
| JP2019025646A | 2019-02-21 | |||
| JP2005257343A | 2005-09-22 | |||
| JP2018027581A | 2018-02-22 |
Other References:
DONLON, ELLIOTT ET AL.: "GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger", 2018 IEEE /RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS, 2018, pages 1927 - 1934, XP033490904, DOI: 10.1109/IROS.2018.8593661
See also references of EP 4079469A4
See also references of EP 4079469A4
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
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