Title:
ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2023/281789
Kind Code:
A1
Abstract:
This robot control device comprises an external force estimation unit that acquires torque sensor information and tactile sensor information from, respectively, a torque sensor and a tactile sensor that are provided to a controlled portion of a robot and, on the basis of the acquired torque sensor information and tactile sensor information, separates intended external force applied to the robot by a task from the external force acting on the controlled portion and estimates unintended external force.
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Inventors:
MATSUDA YASUHIRO (JP)
TERASAWA RYO (JP)
VANHEERDEN KIRILL (JP)
TERASAWA RYO (JP)
VANHEERDEN KIRILL (JP)
Application Number:
PCT/JP2022/005212
Publication Date:
January 12, 2023
Filing Date:
February 09, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
B25J13/00; B25J15/08; B25J19/02
Domestic Patent References:
| WO2020017370A1 | 2020-01-23 | |||
| WO2020246263A1 | 2020-12-10 |
Foreign References:
| JP2010069584A | 2010-04-02 | |||
| JP2009101424A | 2009-05-14 |
Attorney, Agent or Firm:
TSUBASA PATENT PROFESSIONAL CORPORATION (JP)
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