Control device, control method and program

Abstract

[Problem] A control device, a control method, and a program are proposed, by which a clamping force generated when a contact portion contacts an object can be appropriately controlled. [Solution] The control device is provided with a clamping control unit, which controls the clamping force related to the contact portion according to the contact force generated when the contact portion contacts the object, and the contact force is based on a sensing result obtained by a tactile sensor provided on the contact portion and a sensing result obtained by a force sensor provided on the contact portion.

Description

Technical Field

[0001] The present disclosure relates to a control device, a control method, and a program. Background Art

[0002] Various machines having a structure for gripping an object (eg, a robot arm, a gripper, etc.) have been proposed.

[0003] For example, Patent Document 1 below describes a technique for detecting contact with an object by using a plurality of pressure detection elements provided at predetermined joint portions of a manipulator.

[0004] Reference List

[0005] Patent Literature

[0006] Patent Document 1: Patent Document 1: Japanese Unexamined Patent Application Publication No. 2009-66714 Summary of the invention

[0007] Problems to be solved by the present invention

[0008] However, the technology described in Patent Document 1 calculates the contact force when the manipulator and the object are in contact with each other using only the sensing result obtained by the pressure detection element. Therefore, the technology described in Patent Document 1 has room for improving the calculation accuracy of the contact force.

[0009] Therefore, the present disclosure proposes a novel and improved control device, control method, and program that are capable of appropriately controlling the gripping force when a contact portion and an object are in contact with each other.

[0010] Means of solving the problem

[0011] According to the present disclosure, a control device is provided, which includes a clamping controller, which controls a clamping force related to a contact portion according to a contact force when the contact portion and an object contact each other, and the contact force is based on a sensing result obtained by a tactile sensor arranged at the contact portion and a sensing result obtained by a force sensor arranged at the contact portion.

[0012] In addition, according to the present disclosure, a control method is provided, which includes controlling a clamping force related to a contact portion by a processor according to a contact force when the contact portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor arranged at the contact portion and a sensing result obtained by a force sensor arranged at the contact portion.

[0013] In addition, according to the present disclosure, there is provided a program for causing a computer to function as a clamping controller, which controls a clamping force associated with a contact portion according to a contact force when the contact portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact portion and a sensing result obtained by a force sensor disposed at the contact portion.

[0014] Effects of the Invention

[0015] As described above, according to the present disclosure, the gripping force when the contact portion and the object are in contact with each other can be appropriately controlled. It should be noted that the effects described here are not necessarily restrictive, and may be any of the effects described in the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] [ Figure 1 ] Figure 1 is a diagram illustrating an example of a physical configuration of the robot 10 according to the first embodiment of the present disclosure.

[0017] [ Figure 2 ] Figure 2 is a block diagram showing an example of a functional configuration of the robot 10 according to the first embodiment.

[0018] [ Figure 3 ] Figure 3 is a block diagram showing an example of a detailed configuration of the contact force determination section 110 according to the first embodiment.

[0019] [ Figure 4 ] Figure 4 is a flowchart showing an example of the flow of processing according to the first embodiment.

[0020] [ Figure 5 ] Figure 5 is a block diagram showing an example of a functional configuration of the robot 10 according to the second embodiment of the present disclosure.

[0021] [ Figure 6 ] Figure 6 : is a block diagram showing an example of a functional configuration of the robot 10 according to the third embodiment of the present disclosure.

[0022] [ Figure 7 ] Figure 7 : is a block diagram showing an example of a functional configuration of the robot 10 according to the fourth embodiment of the present disclosure.

[0023] [ Figure 8 ] Figure 8 is a block diagram showing an example of a functional configuration of the robot 10 according to the fifth embodiment of the present disclosure.

[0024] [ Fig. 9 ] Fig. 9 : is a block diagram showing an example of a functional configuration of the robot 10 according to the sixth embodiment of the present disclosure.

[0025] [ Fig.10 ] Fig.10 : is a block diagram showing an example of a functional configuration of the robot 10 according to the seventh embodiment of the present disclosure.

[0026] [ Fig.11 ] Fig.11 : is a block diagram showing an example of a functional configuration of the robot 10 according to the eighth embodiment of the present disclosure.

[0027] [ Fig.12 ] Fig.12 : is a block diagram showing an example of a functional configuration of the robot 10 according to the ninth embodiment of the present disclosure.

[0028] Modes for Carrying Out the Invention

[0029] Preferred embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. Note that in this specification and the accompanying drawings, components having substantially the same functional configuration are indicated by the same reference numerals, and thus redundant descriptions thereof are omitted.

[0030] In addition, in this specification and the accompanying drawings, different letters are sometimes used after the same reference numeral to distinguish components with substantially the same functional configuration from each other. For example, as the case may be, components with substantially the same functional configuration are distinguished from each other, such as clamping portion 104a and clamping portion 104b. However, in the case where there is no need to specifically distinguish components with substantially the same functional configuration, each of the components is only attached with the same reference numeral. For example, in the case where there is no need to specifically distinguish clamping portion 104a and clamping portion 104b from each other, clamping portion 104a and clamping portion 104b are both referred to as clamping portion 104.

[0031] Furthermore, “modes for carrying out the invention” will be given in the following order.

[0032] 1. Background

[0033] 2. First Implementation

[0034] 3. Second Implementation

[0035] 4. Third Implementation

[0036] 5. Fourth embodiment

[0037] 6. Fifth Implementation

[0038] 7. Sixth Implementation

[0039] 8. Seventh Implementation Method

[0040] 9. Eighth Implementation

[0041] 10. Ninth Implementation Method

[0042] 11. Modify the example

[0043] [1. Background]

[0044] The present disclosure may be implemented in various forms as described in detail by examples in “2. First embodiment” to “10. Ninth embodiment.” First, in order to clearly indicate the features of the present disclosure, the background in which the robot 10 according to each embodiment of the present disclosure is created will be described.

[0045] Various techniques for gripping an object by using a hand (e.g., a manipulator, a gripper, etc.) have been proposed. In such techniques, it is necessary to appropriately set the gripping force when the hand grips the object. For example, it is necessary to set the force to a gripping force within a range in which the object does not slip and the object is not crushed.

[0046] It is to be noted that, for example, with respect to an object handled in an assembly line of a factory or the like, its shape, mass, friction coefficient, etc. are known in many cases; therefore, it is generally easy to set an appropriate clamping force corresponding to the object in many cases. In contrast, with respect to a wide variety of objects located in any environment such as a home and a hospital, it is generally difficult to set an appropriate clamping force because the shape, mass, or friction coefficient of each object is generally unknown.

[0047] In order to solve such a problem, for example, a technology has been proposed in which a pressure distribution sensor is arranged at the tip of the hand (fingertip), and the CoP (center of pressure) that changes when a displacement (hereinafter, also referred to as "sliding") occurs between the object to be clamped and the fingertip is measured, and the clamping force is increased based on the result obtained by the measurement.

[0048] However, the characteristics of the pressure distribution sensor have limitations in terms of contact state, sensor accuracy, spatial resolution, dynamic range, etc. Therefore, such a technology has low accuracy in calculating the contact force. Due to the low accuracy in calculating the contact force, it is also difficult to accurately detect sliding in such a technology.

[0049] Therefore, in view of the above situation, the robot 10 according to each embodiment has been created. The robot 10 according to each embodiment calculates the contact force when the gripping portion 104 and the object are in contact with each other based on the sensing result obtained by the tactile sensor 106 arranged at the gripping portion 104 and the sensing result obtained by the force sensor 108 arranged at the gripping portion 104. As described above, according to each embodiment, both the sensing result obtained by the tactile sensor 106 and the sensing result obtained by the force sensor 108 are used; therefore, the contact force when the gripping portion 104 and the object are in contact with each other can be calculated with higher accuracy.

[0050] The robot 10 according to each embodiment is an example of a control device according to the contents of the present disclosure. In each embodiment, the robot 10 may be a device (machine) that can use electrical and / or magnetic effects to take actions (e.g., perform clamping, etc.). For example, the robot 10 may be a mobile or fixed manipulator. Alternatively, the robot 10 may be a humanoid robot, a pet robot, various industrial machines, a vehicle (e.g., an autonomous car, a ship, or an aircraft (e.g., a drone, etc.)) or a toy, etc. Hereinafter, the contents of each embodiment will be described in detail.

[0051] [2. First embodiment]

[0052] [2-1. Physical configuration]

[0053] Next, the first embodiment according to the present disclosure will be described. Figure 1 , the physical configuration of the robot 10 according to the first embodiment will be described.

[0054] like Figure 1 As shown, the robot 10 may include at least one gripping portion 104 and an actuator 130 for driving the gripping portion 104. Figure 1 As shown, the tactile sensor 106 may be disposed on the entire or a portion of the surface of the clamp 104. In addition, the force sensor 108 may be disposed in the configuration area of ​​the actuator 130.

[0055] [2-1-1. Clamping portion 104]

[0056] The clamping portion 104 is an example of a contact portion according to the present disclosure. The clamping portion 104 has a structure that enables the clamping portion 104 to clamp an external object ( Figure 1 The structure of the object 20) in the example shown. Figure 1In the example shown, an example in which the gripping portion 104 is a robot finger is pointed out, but the first embodiment is not limited to such an example. The structure of the gripping portion 104 is not particularly limited as long as the structure enables the gripping portion 104 to grip an object. For example, the robot 10 may have one or more robotic arms (not shown). In this case, the gripping portion 104 may be provided at the tip of the robotic arm as a hand (e.g., a manipulator, a gripper, an end effector, etc.). Alternatively, the robot 10 may have a plurality of legs. In this case, the gripping portion 104 may be provided as a tip portion (e.g., a foot portion) of one of the legs.

[0057] [2-1-2. Touch sensor 106]

[0058] The tactile sensor 106 can be configured to be able to measure the contact position (e.g., contact center position, etc.) and the total number of each contact point (hereinafter, each contact point may be referred to as a contact portion) with the object when in contact with the object. For example, the tactile sensor 106 may be a pressure distribution sensor, a uniaxial force sensor array, a triaxial force sensor array, a visual sensor, or a sensor using a laser, etc. Here, the pressure distribution sensor may be a sensor in which a plurality of pressure detection elements are arranged in an array. The pressure distribution sensor can then sense contact with the object by detecting the pressure applied to the plurality of pressure detection elements. In addition, the visual sensor can sense contact with the object by measuring the deformation of the material on the sensor surface by a camera, which deformation occurs through contact with the object. Furthermore, a sensor using a laser can sense the presence or absence of contact between the sensor surface and the object by using a laser.

[0059] The tactile sensor 106 can also measure the contact force strength ratio between the contact points. Here, the contact force can be the force generated at the point of contact with the object. Alternatively, the tactile sensor 106 can also measure the absolute value of the normal force at each contact point and / or the absolute value of the shear force at each contact point.

[0060] In addition, the tactile sensor 106 may transmit the sensing result (eg, the total number of contact points, position information of each contact point, a contact force intensity ratio between contact points, etc.) to the contact force determiner 110 and the slide detector 112 .

[0061] [2-1-3. Force sensor 108]

[0062] The force sensor 108 may be configured to measure the resultant force of the contact force applied to the surface of the clamp 104 when the object and the clamp 104 are in contact with each other (in other words, the reaction force from the object). Alternatively, the force sensor 108 may be configured to measure the force, torque or moment generated by the actuator 130.

[0063] For example, the force sensor 108 may be a three-axis force sensor or a six-axis force sensor. Alternatively, a torque sensor may be provided in the actuator 130, and the force sensor 108 may be a torque sensor. In this case, the force sensor 108 may measure the torque generated by the actuator 130 (as the generated force of the actuator 130).

[0064] In addition, the force sensor 108 may transmit the sensing result (force, torque, or moment) to the contact force determination part 110 and the clamping controller 100 .

[0065] [2-1-4. Actuator 130]

[0066] The actuator 130 can generate a force (or torque) corresponding to a target command value according to the control of the clamping controller 100 to be described later. The generated force is sent to the clamping portion 104, so that the clamping portion 104 can move. For example, the actuator 130 is driven according to the control of the clamping controller 100 so that the clamping portion 104 can generate a target clamping force (in other words, a force, moment or torque that the actuator 130 should generate).

[0067] like Figure 1 As shown, the actuator 130 may be disposed between the gripper 104 and a main body (not shown) of the robot 10. For example, in the case where the robot 10 has a robotic arm coupled to the gripper 104, the actuator 130 may be disposed within the robotic arm.

[0068] [2-2. Functional configuration]

[0069] The physical configuration of the robot 10 according to the first embodiment has been described above. Figure 2 , the functional configuration of the robot 10 according to the first embodiment will be described. Figure 2 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the first embodiment. Figure 2 As shown, the robot 10 includes a gripping controller 100, a gripping portion 104, a tactile sensor 106, a force sensor 108, a contact force determination portion 110, and a slip detector 112. Hereinafter, description of the same contents as those described above will be omitted.

[0070] [2-2-1. Contact force determination unit 110]

[0071] The contact force determination unit 110 is an example of a contact force calculator according to the present disclosure. The contact force determination unit 110 may include a processing circuit (e.g., a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit)). In addition, the contact force determination unit 110 may include a memory (e.g., a ROM (Read Only Memory) or a RAM (Random Access Memory)).

[0072] The contact force determination section 110 calculates the contact force when the gripping section 104 and the object are in contact with each other based on the sensing result obtained by the tactile sensor 106 and the sensing result obtained by the force sensor 108. For example, when the gripping section 104 and the object are in contact with each other at one or more points, the contact force determination section 110 calculates the contact force at the corresponding individual contact points based on: the information pieces related to the corresponding individual contact points determined based on the sensing result obtained by the tactile sensor 106; and the sensing result obtained by the force sensor 108. As described below, for example, the information pieces related to the corresponding individual contact points include: the total number of contact points, the position information pieces of the corresponding individual contact points, and the contact strength ratios between the individual contact points.

[0073] Now refer to Figure 3 , a more detailed configuration of the contact force determination section 110 will be described. Figure 3 is a block diagram showing a more detailed configuration of the contact force determination section 110. Figure 3 As shown, the contact force determination unit 110 may include: a contact portion quantity calculator 150 , a contact position calculator 152 , a contact strength calculator 154 , and a contact force calculator 156 .

[0074] [2-2-2. Contact number calculator 150]

[0075] The contact portion number calculator 150, when detecting that the gripping portion 104 and the object are in contact with each other at one or more points, calculates the total number of contact points (contact portions) based on the sensing result obtained by the tactile sensor 106. In this case, for example, the contact portion number calculator 150 calculates the total number of contact points based on a calculation method corresponding to the type of the tactile sensor 106 and the sensing result obtained by the tactile sensor 106.

[0076] For example, in the case where the tactile sensor 106 includes a pressure distribution sensor, the contact portion number calculator 150 first determines (calculates) the number of local maximum points of the pressure sensed by the tactile sensor 106, or determines the points where the slope of the pressure distribution is close to "0". Thereafter, the contact portion number calculator 150 calculates the total number of contact points based on the results of these determinations.

[0077] Alternatively, in the case where the tactile sensor 106 includes a visual sensor, the contact portion number calculator 150 first determines a change in the amount of deformation of the surface of the tactile sensor 106 based on the contact between the gripping portion 104 and the object based on the sensing result obtained by the tactile sensor 106. Thereafter, the contact portion number calculator 150 calculates the total number of contact points based on the specific result.

[0078] [2-2-3. Contact position calculator 152]

[0079] The contact position calculator 152 determines the positional relationship of each contact point (hereinafter may be referred to as "each contact point") among all corresponding contact points based on the sensing results obtained by the tactile sensor 106. For example, the contact position calculator 152 determines the position information of each contact point (for example, the position information of the center position of each contact point, etc.) based on the sensing results obtained by the tactile sensor 106. For example, for each contact point, the contact position calculator 152 determines the information of the relative position of the contact point on the tactile sensor 106 as the position information of the contact point based on the sensing results obtained by the tactile sensor 106. Here, the information of the relative position of each contact point may be expressed in the form of coordinates with the endpoints of the tactile sensor 106 set as the origin. However, the information of the relative position of each contact point is not limited to such an example, and may be defined as information of the relative position with reference to any other position that enables calculation of the torque or moment generated by the actuator 130.

[0080] [2-2-4. Contact strength calculator 154]

[0081] The contact strength calculator 154 calculates the contact force strength ratio between corresponding contact points (e.g., the ratio of each contact strength of another contact point to the contact strength of the one contact point, taking the one contact point as a reference) based on the sensing result obtained by the tactile sensor 106. Advantages of such a calculation method include the following advantages. For example, in the case where an error having a gain corresponding to a specific factor as a whole is included in a predetermined sensing result (e.g., temperature determination, etc.), since the gain can be offset by using the contact force strength ratio between the contact points, the influence of the error can be minimized.

[0082] [2-2-5. Contact force calculator 156]

[0083] The contact force calculator 156 calculates the contact force at each contact point based on the total number of contact points calculated by the contact portion number calculator 150, the position information of each contact point determined by the contact position calculator 152, the contact force strength ratio between the contact points calculated by the contact strength calculator 154, and the sensing result obtained by the force sensor 108. For example, based on the determination result as to whether the resultant force of the contact forces between the contact clamping portion 104 and the object (i.e., the resultant force of the contact forces at the respective contact points) can be determined, the contact force calculator 156 calculates the contact force at each contact point using the calculation result obtained by the contact portion number calculator 150, the calculation result obtained by the contact position calculator 152, and the calculation result obtained by the clamping portion 104.

[0084] [2-2-5-1. Calculation example 1]

[0085] For example, in the case where the resultant force of the contact force between the clamping portion 104 and the object can be determined based on the sensing result obtained by the force sensor 108, the contact force calculator 156 calculates the contact force at each contact point using the following calculation method. It is to be noted that a specific example of such a case includes a case where the force sensor 108 includes a three-axis force sensor and the three-axis force sensor is provided on the side of the clamping portion 104 opposite to the surface of the clamped object.

[0086] -When the number of contact points is one

[0087] For example, first, the contact force calculator 156 determines whether the total number of contact points calculated by the contact portion number calculator 150 is one, two, or three or more. Thereafter, in the case where the total number of contact points is one, the contact force calculator 156 calculates the resultant force itself sensed by the force sensor 108 as the contact force at the corresponding contact point.

[0088] - When the number of contact points is two

[0089] In addition, in the case where the total number of contact points is two, the contact force calculator 156 first calculates the distances l1, l2 from a predetermined reference position (e.g., an end point of the touch sensor 106, etc.) to the corresponding contact point based on the position information pieces of the corresponding contact point determined by the contact position calculator 152. Here, the contact forces at the respective contact points are defined as F1 and F2, respectively, and the resultant force of the contact forces sensed by the force sensor 108 is defined as F all In this case, the contact force calculator 156 determines F1 and F2 according to the following equations (1) and (2).

[0090] [Mathematical formula 1]

[0091] τ=l1F1+l2F2...Equation (1)

[0092]

[0093] It should be noted that F all , F1 and F2 can have the relationship shown in the following equation (3).

[0094] [Mathematical formula 2]

[0095] F all =F1+F2...Equation (3)

[0096] - When the number of contact points is three or more

[0097] Next, a method of calculating the contact force at the corresponding contact point when the total number of contact points is three or more will be described. Now, the total number of contact points is defined as N, and the contact force at each contact point is defined as F i (i=1 to N), the contact force strength ratio between the contact points calculated by the contact strength calculator 154 is defined as α i (i=1 to N), and the resultant force of the contact force sensed by the force sensor 108 is defined as F all In this case, the contact force calculator 156 calculates F using the following equation (4): i .

[0098] [Mathematical formula 3]

[0099]

[0100] It should be noted that F all and F i The following relationship can be obtained:

[0101] [Formula 4]

[0102]

[0103] [2-2-5-2. Calculation example 2]

[0104] Next, a method of calculating the contact force by the contact force calculator 156 in a case where the resultant force of the contact force between the gripping portion 104 and the object cannot be determined and the generated force (hereinafter, sometimes referred to as “τ”) of the actuator 130 can be measured by the force sensor 108 will be described. Note that a specific example of such a case includes a case where the force sensor 108 includes a torque sensor and the torque sensor is provided in the actuator 130.

[0105] -When the number of contact points is one

[0106] In this case, for example, the contact force calculator 156 calculates the contact force at each contact point using the following calculation method. First, the contact force calculator 156 determines whether the total number of contact points calculated by the contact portion number calculator 150 is one or two or more. Thereafter, in the case where the total number of contact points is one, the contact force calculator 156 first calculates the distance l1 from a predetermined reference position (e.g., an end point of the tactile sensor 106, etc.) to the corresponding contact point based on the position information of each contact point determined by the contact position calculator 152. Then, the contact force calculator 156 calculates the contact force (F1) at the corresponding contact point by using the generated force (i.e., τ) of the actuator 130 sensed by the force sensor 108, l1, and the following equation (6).

[0107] [Formula 5]

[0108]

[0109] - When the number of contact points is two or more

[0110] Next, a method of calculating the contact force at the corresponding contact point when the total number of contact points is two or more will be described. Now, the total number of contact points is defined as N, and the contact force at each contact point is defined as F i (i=1 to N), the contact force strength ratio between the contact points calculated by the contact strength calculator 154 is defined as α i (i=1 to N), the distance from a predetermined reference position (eg, an end point of the touch sensor 106, etc.) to each contact point is defined as l i (i=1 to N), and the generated force of the actuator 130 sensed by the force sensor 108 is defined as τ. In this case, the contact force calculator 156 calculates F using the following equation (7): i .

[0111] [Mathematical formula 6]

[0112]

[0113] It should be noted that τ and F i The following relationship can be obtained:

[0114] [Formula 7]

[0115]

[0116] [2-2-5-3. Sending calculation results]

[0117] In addition, the contact force calculator 156 may send the calculated contact force at each contact point to the clamp controller 100 .

[0118] [2-2-6. Slide detector 112]

[0119] The slide detector 112 may include the above-mentioned processing circuit. The slide detector 112 may also include the above-mentioned memory. The slide detector 112 detects the amount of slide of the object relative to the clamping portion 104 during the time when the clamping portion 104 and the object are in contact with each other based on the sensing result obtained by the tactile sensor 106. For example, the slide detector 112 detects the amount of slide of the object based on the contact force at each contact point calculated by the contact force determination unit 110 and the sensing result obtained by the tactile sensor 106.

[0120] Here, in each embodiment, "sliding" may mean the relative movement (relative displacement) between the surface of the clamping portion 104 and the object, as well as a precursor phenomenon of the relative movement. For example, the precursor phenomenon is a phenomenon in which a portion of the surface of the clamping portion 104 in contact with the object slides or detaches (sometimes referred to as partial sliding). For example, the sliding detector 112 can detect the sliding of the object (e.g., the precursor phenomenon) based on the detection result of the CoP movement, the detection result of the area change of the contact area, the detection result of the contact position change, etc.

[0121] In addition, the slip detector 112 may also transmit the detection result (eg, the detection result of the slip amount, the detection result of the presence or absence of slip, and / or the slip-dependent change amount) to the clamp controller 100 .

[0122] [2-2-7. Clamping controller 100]

[0123] The clamping controller 100 may include the above processing circuit. The clamping controller 100 may also include the above memory. Figure 2 As shown, the clamping controller 100 includes a clamping force calculator 102 .

[0124] The clamping controller 100 controls the movement of the clamping portion 104 based on the target clamping force (i.e., the force with which the clamping portion 104 clamps the object) calculated by the clamping force calculator 102 to be described later. For example, the clamping controller 100 controls the driving of the actuator 130 so that the current clamping force of the clamping portion 104 approaches the target clamping force calculated by the clamping force calculator 102.

[0125] In addition, the clamp controller 100 may perform known feedback control on the clamping portion 104 based on the sensing results sequentially obtained by the force sensor 108 .

[0126] [2-2-8. Gripping force calculator 102]

[0127] The gripping force calculator 102 calculates a target gripping force of the gripping portion 104 based on the contact forces at the respective contact points calculated by the contact force determination portion 110 and the amount of sliding of the object to be gripped detected by the sliding detector 112 .

[0128] For example, in the case where the occurrence of sliding is detected by the sliding detector 112, the clamping force calculator 102 calculates a value corresponding to the amount of sliding detected by the sliding detector 112 as a target clamping force, which is greater than the current clamping force of the clamping portion 104. In addition, in the case where the sliding detector 112 detects that the sliding that is occurring has stopped, the clamping force calculator 102 calculates the target clamping force of the clamping portion 104 so that the clamping force of the clamping portion 104 (after the current time point) gradually decreases.

[0129] [2-3. Processing flow]

[0130] The functional configuration of the robot 10 according to the first embodiment has been described above. Figure 4 , the flow of the processing according to the first embodiment will be described. Figure 4 is a flowchart showing an example of the flow of a process according to the first embodiment. Hereinafter, an example of the flow of a process in a scenario in which the robot 10 grips a target object will be described.

[0131] like Figure 4 As shown, first, the contact force determination unit 110 of the robot 10 detects whether the gripping unit 104 is in contact with the target object (S101) based on the sensing result obtained by the tactile sensor 106. If the gripping unit 104 is not in contact with the target object (S101: No), for example, the contact force determination unit 110 repeats S101 after a predetermined period of time has passed.

[0132] On the contrary, if it is detected that the clamping portion 104 is in contact with the target object (S101: Yes), the contact force determination unit 110 calculates the total number of contact points between the clamping portion 104 and the object, the position information of each contact point, and the contact strength ratio between the contact points based on the sensing result obtained by the tactile sensor 106 (S103).

[0133] Subsequently, the contact force determination section 110 calculates the contact force at each contact point based on the calculation result obtained in S103 and the sensing result obtained by the force sensor 108 (eg, the sensing result obtained in the latest S101 ) ( S105 ).

[0134] Subsequently, the slide detector 112 detects the slide amount of the object relative to the grip 104 based on the contact force at each contact point calculated in S105 and the sensing result obtained by the tactile sensor 106 (eg, the sensing result obtained in the latest S101 ) ( S107 ).

[0135] Subsequently, the clamping force calculator 102 calculates the target clamping force of the clamping portion 104 based on the contact force at each contact point calculated in S105 and the sliding amount of the object detected in S107. For example, based on the contact force at each contact point and the sliding amount of the object detected, the clamping force calculator 102 calculates the force that the actuator 130 should generate so that the clamping force of the clamping portion 104 reaches the target clamping force (S109).

[0136] Thereafter, the clamp controller 100 controls the driving of the actuator 130 based on the target clamping force (or the force that the actuator 130 should generate) calculated in S109 ( S111 ).

[0137] [2-4. Effect]

[0138] [2-4-1. Effect 1]

[0139] As described above, the robot 10 according to the first embodiment calculates the contact force when the clamping portion 104 and the object are in contact with each other based on the sensing result obtained by the tactile sensor 106 provided at the clamping portion 104 and the sensing result obtained by the force sensor 108 provided at the clamping portion 104. In this way, according to the first embodiment, both the sensing result obtained by the tactile sensor 106 and the sensing result obtained by the force sensor 108 are used; therefore, the contact force when the clamping portion 104 and the object are in contact with each other can be calculated with higher accuracy. For example, the contact force at each contact point when the clamping portion 104 and the object are in contact with each other at multiple contact points can be calculated with higher accuracy. The contact force calculation algorithm can also be robustly changed according to the setting of the sensor system and the tactile sensor 106.

[0140] [2-4-2. Effect 2]

[0141] In addition, according to the first embodiment, the contact force when the clamping portion 104 and the object are in contact with each other can be calculated with high accuracy, which makes it possible to detect the sliding amount of the object relative to the clamping portion 104 with higher accuracy. For example, the sliding that varies according to the magnitude of the contact force can be detected with higher accuracy. The improvement in the accuracy of detecting the sliding enables the clamping portion 104 to clamp the object with less force. Even in the case where the reaction force from the object to be clamped (e.g., a flexible object or a fragile object) is low, the clamping portion 104 can safely clamp the corresponding object.

[0142] [2-4-3. Effect 3]

[0143] In addition, since the contact force when the clamping portion 104 and the object are in contact with each other can be calculated with high accuracy, the contact timing of the clamping portion 104 and the object can be detected more accurately. For example, according to the first embodiment, not only the sensing result obtained by the tactile sensor 106 but also the sensing result obtained by the force sensor 108 is used at the same time, which makes it possible to increase the contact sensitivity (for example, the contact sensitivity of the tip (for example, fingertip) of the clamping portion 104) compared to the past technology. This makes it possible to detect the contact timing more accurately.

[0144] As a result, the following three effects are obtained. First, the gripping portion 104 can be made to grip the corresponding object more appropriately. Second, for example, the timing at which the slide detector 112 starts the slide detection process can be flexibly adjusted. This makes it possible to reduce the processing load on the robot 10 during the time period other than the time period when the gripping portion 104 grips the object.

[0145] Third, since the contact moment can be detected more accurately, in the scenario where the robot 10 switches control at the contact timing, the control can be switched at a more accurate timing. For example, in the scenario where the control system or parameters (e.g., the target value of speed or force) are changed at the contact timing (e.g., the opening and closing action of the clamping portion 104 is paused at the contact timing), the robot 10 is able to change the control system or parameters at a more accurate timing. As a result, various situations can be dealt with more widely and more appropriately than in the prior art. For example, the robot 10 is able to safely clamp an object without knocking down or moving the object. In addition, in the scenario where the task of clamping an object directly held by a person or another robot is to be performed, the robot is able to set the clamping timing more appropriately, thereby being able to perform the task more appropriately.

[0146] [2-4-4. Effect 4]

[0147] Furthermore, according to the first embodiment, the contact force can be calculated more accurately even in multi-point contact. As a result, the following three effects are obtained. First, even if the object to be clamped has a complex shape, the object can be clamped safely without damaging the object. Second, even if the object to be clamped has a complex shape, the amount of sliding of the object can be appropriately detected. This enables the robot 10 to safely clamp the object without causing the object to slip. Third, even if sliding occurs at one or more of all corresponding contact points, the sliding can be detected with high accuracy. Therefore, the corresponding object can be clamped more safely.

[0148] [2-4-5. Effect 5]

[0149] In addition, according to the first embodiment, various types of sensors such as a pressure distribution sensor or a visual sensor can be used as the tactile sensor 106, and the range of sensor systems to be selected is wide. Therefore, an appropriate processing method corresponding to the form of the robot 10 or the form of the sensor mounted on the robot 10 can be selected.

[0150] [2-4-6. Effect 6]

[0151] In addition, according to the first embodiment, in the case where the object contacts any position within the area that can be sensed by the tactile sensor 106, the contact force at each contact point can be calculated. This can eliminate the necessity for position adjustment when the clamping portion 104 clamps the object. As a result, the following three effects are obtained. First, the target object can be clamped faster. Second, there is no need to install additional sensors (for example, cameras, etc.) on the robot 10 for position adjustment. Third, the allowable range of errors caused by deformation of structural members supporting the clamping portion 104, etc. can be made larger. This can reduce the strength of the corresponding structural members, and thereby reduce the weight of the robot 10 and reduce costs.

[0152] [3. Second embodiment]

[0153] The first embodiment has been described above. Next, a second embodiment according to the present disclosure will be described. As will be discussed later, the second embodiment enables a user to specify an upper limit of the contact force between the gripping portion 104 and the object. It should be noted that the physical configuration of the robot 10 according to the second embodiment may be different from that of the robot 10 according to the second embodiment. Figure 1 The physical configuration of the robot 10 is the same as that of the first embodiment shown. In addition, for each of the third to ninth embodiments to be described later, the physical configuration of the robot 10 may be the same as that of the first embodiment. In the following description, only the contents different from the first embodiment will be described, and the description of the same contents will be omitted.

[0154] [3-1. Functional configuration]

[0155] Next, refer to Figure 5 , a functional configuration of the robot 10 according to the second embodiment will be described. Figure 5 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the second embodiment. Figure 5 As shown, Figure 2 Compared to the first embodiment shown, the robot 10 according to the second embodiment further includes a contact force threshold memory 200 .

[0156] [3-1-1. Contact force threshold memory 200]

[0157] The contact force threshold memory 200 stores the upper limit of the contact force when the gripper 104 and the object are in contact with each other (hereinafter referred to as the "specified upper limit of the contact force") which has been pre-specified by the user. The specified upper limit of the contact force may be the same value regardless of the type of object to be gripped.

[0158] [3-1-2. Clamping force calculator 102]

[0159] The clamping force calculator 102 according to the second embodiment calculates the target clamping force (after the current time point) of the clamping portion 104 based on the specified upper limit of the contact force stored in the contact force threshold memory 200. For example, the clamping force calculator 102 calculates the upper limit of the force that the actuator 130 should generate so that the contact force at each contact point between the clamping portion 104 and the object is less than or equal to the specified upper limit of the contact force stored in the contact force threshold memory 200.

[0160] [3-2. Effect]

[0161] As described above, according to the second embodiment, the user can specify the upper limit of the contact force between the gripping portion 104 and the object. Therefore, the robot 10 can be controlled so that the contact force is not too large; therefore, for example, the robot 10 can safely grip the object even if the object is flexible or fragile. In addition, the gripping strength can be changed according to the application and the on-site situation in which the robot 10 is installed.

[0162] Note that it is desirable that the user interface capable of specifying the clamping strength of the clamping portion 104 and the robot 10 is configured to be able to cooperate via a predetermined network (eg, the Internet or a public network), etc. According to such a configuration, the user can more easily specify a desired clamping strength.

[0163] [4. Third embodiment]

[0164] The second embodiment has been described above. Next, a third embodiment according to the present disclosure will be described. As will be described later, according to the third embodiment, the upper limit of the contact force between the clamping portion 104 and the object can be appropriately specified for each type of object. In the following description, only the contents different from the second embodiment will be described, and the description of the same contents will be omitted.

[0165] [4-1. Functional configuration]

[0166] Figure 6 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the third embodiment. Figure 6 As shown, Figure 5 Compared to the second embodiment shown, the robot 10 according to the third embodiment further includes an object identifier 202 .

[0167] [4-1-1. Object identifier 202]

[0168] The object identifier 202 may include a sensor for object identification (e.g., an image sensor (camera), an infrared sensor, etc.) The object identifier 202 senses each object located around the robot 10 (e.g., within the movable range of the gripper 104), and identifies each object type based on the sensing result.

[0169] [4-1-2. Contact force threshold memory 200]

[0170] For example, the contact force threshold memory 200 according to the third embodiment stores the upper limit of the contact force between the grip 104 and the object for each type of object specified in advance by the user.

[0171] [4-1-3. Clamping force calculator 102]

[0172] The clamping force calculator 102 according to the third embodiment calculates the target clamping force of the clamping portion 104 (or the upper limit of the force that the actuator 130 should generate) based on the type of object to be clamped identified by the object identifier 202 and the upper limit of the contact force of the corresponding object stored in the contact force threshold memory 200.

[0173] [4-2. Effect]

[0174] As described above, according to the third embodiment, the upper limit of the contact force between the gripping portion 104 and the object can be appropriately specified for each type of object. Therefore, the robot 10 can grip the object with an appropriate force corresponding to the type of the object to be gripped, and thus can grip the object more safely. In addition, according to the third embodiment, the user does not have to specify the upper limit of the contact force every time, which makes it possible to reduce the number of operations.

[0175] [5. Fourth embodiment]

[0176] The third embodiment has been described above. Next, a fourth embodiment according to the present disclosure will be described. As will be discussed later, according to the fourth embodiment, the upper limit of the contact force between the clamping portion 104 and the object can be appropriately specified based on previous clamping experience. In the following description, only the contents different from the third embodiment will be described, and the description of the same contents will be omitted.

[0177] [5-1. Functional configuration]

[0178] Figure 7 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the fourth embodiment. Figure 7 As shown, Figure 6 Compared with the third embodiment shown, the robot 10 according to the fourth embodiment further includes a contact force upper limit determination section 204 .

[0179] [5-1-1. Contact force threshold memory 200]

[0180] According to the fourth embodiment, the contact force threshold memory 200 can store in association with each other: the type of the corresponding object identified by the object identifier 202 during previous clamping, the state of the corresponding object during clamping (for example, whether the object has been damaged), and the clamping force of the clamping portion 104 during clamping.

[0181] In addition, for each type of object, the upper limit of the contact force within the range where the object is not damaged when the clamping portion 104 contacts the object can be pre-specified based on these information fragments. In this case, the contact force threshold memory 200 can also store the upper limit of the contact force within the range where the object is not damaged for each type of object.

[0182] [5-1-2. Contact force upper limit determination unit 204]

[0183] The contact force upper limit determination section 204 determines the upper limit of the contact force within a range in which the object to be gripped is not damaged, based on the type of the object to be gripped identified by the object identifier 202 and the information stored in the contact force threshold memory 200 .

[0184] [5-1-3. Clamping force calculator 102]

[0185] The clamping force calculator 102 according to the fourth embodiment calculates the target clamping force of the clamping portion 104 (or the upper limit of the force that the actuator 130 should generate) based on the upper limit of the contact force determined by the contact force upper limit determination unit 204 and the contact force at each contact point determined by the contact force determination unit 110.

[0186] [5-2. Effect]

[0187] [5-2-1. Effect 1]

[0188] As described above, according to the fourth embodiment, the upper limit of the contact force between the clamping portion 104 and the object can be appropriately specified based on previous clamping experience. For example, the robot 10 is able to set the upper limit of the contact force between the clamping portion 104 and the object to the upper limit of the contact force when the object to be clamped is successfully clamped. Therefore, the robot 10 is able to clamp each object more reliably. The robot 10 is also able to determine the clamping ability of the object when clamping the object. For example, in the case where it is detected that the sliding does not stop even if the upper limit of the contact force of the object is applied, the robot 10 is able to determine that it is impossible or difficult to clamp the object because the friction coefficient of the object is too small.

[0189] [5-2-2. Effect 2]

[0190] The fourth embodiment also eliminates the need for human effort to determine the upper limit of the contact force. For example, the user does not have to research the upper limit of the contact force or collect data, making it easier to introduce the system.

[0191] [6. Fifth embodiment]

[0192] The fourth embodiment has been described above. Next, the fifth embodiment according to the present disclosure will be described. As will be described later, the fifth embodiment enables the user to easily specify the upper limit of the contact force between the clamping portion 104 and the object, or the target value of the contact force. In the following description, only the contents different from the first embodiment will be described, and the description of the same contents will be omitted.

[0193] [6-1. Functional configuration]

[0194] Figure 8 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the fifth embodiment. Figure 8 As shown, Figure 2 Compared to the first embodiment shown, the robot 10 according to the fifth embodiment further includes an input unit 206 .

[0195] [6-1-1. Input unit 206]

[0196] The input unit 206 may include an input device (eg, a mouse, a keyboard, a touch panel, etc.), or may include an audio input device (eg, a microphone, etc.) The input unit 206 receives various types of inputs to the robot 10 .

[0197] [6-1-1-1. Input example 1]

[0198] For example, the input unit 206 may accept an input of an upper limit of the contact force input by the user before the clamping unit 104 clamps the object each time. As an example, the user may input a multiplier of a reference value of the contact force to the input unit 206, or may input any one of a plurality of contact force levels prepared in advance to the input unit 206. In these cases, the input information of the input unit 206 is sent to the clamping controller 100, and the clamping controller 100 may determine the actual upper limit of the contact force based on the input information.

[0199] [6-1-1-2. Input Example 2]

[0200] Alternatively, the input unit 206 may accept an input of a target value of the contact force input by the user. In this case, the clamping force calculator 102 may calculate the force (target value) that the actuator 130 should generate so that the current contact force of the clamping unit 104 is the same as the target value of the contact force that has been input.

[0201] [6-2. Effect]

[0202] [6-2-1. Effect 1]

[0203] As described above, according to the fifth embodiment, the user can easily specify the upper limit of the contact force between the gripping portion 104 and the object. For example, the user can specify the upper limit of the contact force each time (for example, in real time). As a result, the robot 10 can immediately and robustly respond to changes in situations and applications during operation. In addition, the user can also intuitively input the upper limit of the contact force.

[0204] [6-2-2. Effect 2]

[0205] In addition, the fifth embodiment also enables the user to easily specify the target value of the contact force between the clamping portion 104 and the object. For example, the user can specify the target value of the contact force each time (e.g., in real time). In addition, when using an application that applies a certain contact force to the object, the user can specify the desired contact force.

[0206] [7. Sixth embodiment]

[0207] The fifth embodiment has been described above. Next, the sixth embodiment according to the present disclosure will be described. As will be described later, according to the sixth embodiment, the upper limit of the contact force can be appropriately adjusted according to the state of the object when clamped. In the following description, only the contents different from the first embodiment will be described, and the description of the same contents will be omitted.

[0208] [7-1. Functional configuration]

[0209] Fig. 9 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the sixth embodiment. Fig. 9 As shown, Figure 2 Compared to the first embodiment shown, the robot 10 according to the sixth embodiment further includes a contact force upper limit determination section 204 and a gripping state identifier 208 .

[0210] [7-1-1. Clamping state identifier 208]

[0211] The clamping state recognizer 208 may include a sensor for recognizing the clamping state (e.g., an image sensor (camera), an infrared sensor, etc.). The clamping state recognizer 208 may sense the object being clamped by the clamping portion 104, and may, for example, recognize the state of the object in real time based on the sensing result (e.g., whether the object has been damaged, deformed, etc.).

[0212] [7-1-2. Contact force upper limit determination unit 204]

[0213] For example, according to the sixth embodiment, the contact force upper limit determination unit 204 calculates the upper limit of the contact force between the clamping part 104 and the object in real time based on the recognition result of the state of the target object obtained by the clamping state identifier 208 and the current contact force between the clamping part 104 and the object calculated by the contact force determination unit 110.

[0214] [7-2. Effect]

[0215] As described above, according to the sixth embodiment, the upper limit of the contact force can be appropriately adjusted according to the state of the object when the object is clamped. For example, even in the case of unpredictable deformation or damage of the object, the robot 10 can respond to such an event in real time by adjusting the upper limit of the contact force in real time.

[0216] It is to be noted that the robot 10 according to the sixth embodiment can recognize in advance whether the object clamped by the clamping portion 104 (or the robot 10 itself) is likely to come into contact with the external environment (e.g., a person, an obstacle, etc.). In this case, the robot 10 can adjust the contact force based on the recognition result as an anti-slip action for preventing the object from slipping due to the contact.

[0217] [8. Seventh embodiment]

[0218] The sixth embodiment has been described above. Next, the seventh embodiment according to the present disclosure will be described. As will be described later, according to the seventh embodiment, it is possible to appropriately switch between executing the sliding detection process and not executing the sliding detection process according to the detection result of the contact between the clamping portion 104 and the object. In the following description, only the contents different from the first embodiment will be described, and the description of the same contents will be omitted.

[0219] [8-1. Functional configuration]

[0220] Fig.10 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the seventh embodiment. Fig.10 As shown, Figure 2 Compared to the illustrated first embodiment, the robot 10 according to the seventh embodiment further includes a contact detector 210 .

[0221] [8-1-1. Contact detector 210]

[0222] The contact detector 210 detects the presence or absence of contact between the gripper 104 and the object based on the calculation result obtained by the contact force determination section 110. The contact detector 210 may also output a contact trigger to the slide detector 112 upon detecting the start of contact between the gripper 104 and the object.

[0223] [8-1-2. Slide detector 112]

[0224] The slide detector 112 according to the seventh embodiment determines whether to perform a process of detecting a slide amount based on a detection result obtained by the contact detector 210. For example, the slide detector 112 performs a slide detection process only when the contact detector 210 detects a contact between the clamping portion 104 and the object. In other words, the slide detector 112 does not perform a slide detection process when the contact detector 210 does not detect a contact between the clamping portion 104 and the object. For example, the slide detector 112 may start the slide detection process only when a contact trigger is received from the slide detector 112.

[0225] [8-2. Effect]

[0226] As described above, according to the seventh embodiment, it is possible to appropriately switch between executing the slide detection process and not executing the slide detection process according to the detection result of the contact between the gripping portion 104 and the object.

[0227] The slide detection process generally has a large processing load because it is necessary to process the values ​​of the corresponding sensors in the entire area of ​​the tactile sensor 106. According to the seventh embodiment, since the slide detection process can be performed only when the contact between the gripping portion 104 and the object is detected, the processing load can be reduced when the contact between the gripping portion 104 and the object is not detected. As a result, memory usage and power consumption can be reduced.

[0228] [9. Eighth Implementation Method]

[0229] The seventh embodiment has been described above. Next, the eighth embodiment according to the present disclosure will be described. As will be described later, according to the eighth embodiment, the type of control to be performed or the value of the control parameter before and after the contact between the clamping portion 104 and the object can be appropriately switched. In the following description, only the contents different from the first embodiment will be described, and the description of the same contents will be omitted.

[0230] [9-1. Functional configuration]

[0231] Fig.11 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the eighth embodiment. Fig.11 As shown, Figure 2 Compared to the first embodiment shown, the robot 10 according to the eighth embodiment further includes a contact detector 210 and a main body controller 212 .

[0232] [9-1-1. Contact detector 210]

[0233] The contact detector 210 according to the eighth embodiment outputs a contact trigger to the grip controller 100 and the body controller 212 upon detecting the start of contact between the grip portion 104 and the object.

[0234] [9-1-2. Main body controller 212]

[0235] The main body controller 212 controls the action of the main body part of the robot 10 (for example, one or more joints included in the part other than the gripping part 104, etc.) based on the detection result obtained by the contact detector 210. For example, the main body controller 212 switches the following two or one of them according to whether the contact detector 210 has detected the contact between the gripping part 104 and the object: the type of control to be performed on the main body part of the robot 10; and the control parameters related to the main body part of the robot 10. Here, for example, such control types may include position control, force control, etc. In addition, for example, such control parameters may include mechanical impedance, control gain, position, force, speed, torque, or another command value. In addition, the control parameters may also include upper limits or lower limits of these parameters.

[0236] For example, the main body controller 212 performs position control only on the main body part of the robot 10 until contact between the gripping portion 104 and the object is detected by the contact detector 210. After contact between the gripping portion 104 and the object is detected by the contact detector 210, the main body controller 212 may switch the type of control to perform force control instead of position control on the main body part of the robot 10.

[0237] Alternatively, the main body controller 212 does not change the value of the control parameter related to the main body part of the robot 10 until the contact between the gripping portion 104 and the object is detected by the contact detector 210. After the contact detector 210 detects the contact between the gripping portion 104 and the object, for example, the main body controller 212 may switch the value of the control parameter related to the main body part of the robot 10 according to the detection result. For example, when the contact between the gripping portion 104 and the object is detected, the main body controller 212 may reduce the control gain with respect to the main body part of the robot 10 so that the main body part of the robot 10 moves while suppressing sudden changes. Alternatively, when the touch is detected, the main body controller 212 may change the mechanical impedance setting value of the main body part of the robot 10 so that the movement of the main body part of the robot 10 becomes more flexible.

[0238] Alternatively, the body controller 212 may not necessarily change the type of control of the main body part of the robot 10 and maintain the type of control of force control, and in the timing of contact between the clamping portion 104 and the object, the mechanical impedance setting (an example of a control parameter) of the main body part of the robot 10 may be changed.

[0239] [9-1-3. Clamping controller 100]

[0240] The clamp controller 100 according to the eighth embodiment controls the action of the clamp portion 104 based on the detection result obtained by the contact detector 210. For example, the clamp controller 100 switches one or both of the following: the type of control to be performed on the clamp portion 104; and the control parameters related to the clamp portion 104, depending on whether the contact between the clamp portion 104 and the object has been detected by the contact detector 210. The specific contents of the control type and the control parameters may be similar to those described above (regarding the main body controller 212).

[0241] For example, the clamp controller 100 performs position control on the clamp portion 104 only until contact between the clamp portion 104 and the object is detected by the contact detector 210. After the contact between the clamp portion 104 and the object is detected by the contact detector 210, the clamp controller 100 may switch the type of control to perform force control on the clamp portion 104 instead of position control.

[0242] [9-2. Effect]

[0243] As described above, according to the eighth embodiment, the type of control to be performed or the value of the control parameter before and after the contact between the gripping portion 104 and the object can be switched appropriately.

[0244] [10. Ninth embodiment]

[0245] The eighth embodiment has been described above. Next, the ninth embodiment according to the present disclosure will be described. As will be described later, according to the ninth embodiment, not only the sensing result obtained by the tactile sensor 106 but also the sensing result obtained by the force sensor 108 can be used to detect the sliding amount of the object relative to the clamping portion 104. In the following description, only the contents different from the first embodiment will be described, and the description of the same contents will be omitted.

[0246] [10-1. Functional configuration]

[0247] Fig.12 1 is a block diagram showing an example of the functional configuration of the robot 10 according to the ninth embodiment. Fig.12 As shown, the ninth embodiment is Figure 2 The first embodiment shown differs only in that the force sensor 108 is coupled to the slip detector 112 .

[0248] The slide detector 112 according to the ninth embodiment detects the sliding amount of the object when the clamping portion 104 and the object are in contact with each other based on the contact force at each contact point calculated by the contact force determination unit 110, the sensing result obtained by the tactile sensor 106, and the sensing result obtained by the force sensor 108.

[0249] [11. Modification example]

[0250] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such embodiments. Obviously, a person of ordinary skill in the art of the present disclosure can derive various changes and modifications within the scope of the technical ideas described in the attached claims, and it should be understood that such changes and modifications naturally fall within the technical scope of the present disclosure.

[0251] [11-1. Modification Example 1]

[0252] For example, the main body controller 212 according to the eighth embodiment is not limited to the example included in the robot 10 according to the eighth embodiment. The robot 10 according to any other embodiment may also include the main body controller 212.

[0253] [11-2. Modification Example 2]

[0254] As another modified example, in the above-mentioned embodiment, an example in which the contact portion according to the present disclosure is used as the clamping portion 104 has been described, but the present disclosure is not limited to such an example. For example, the contact portion is not necessarily limited to an example having a configuration that enables clamping of an object, and may have a structure that enables contact with an object. An example is given in which the robot 10 is able to press or pull the contact portion toward an object. For example, the contact portion may be a surface of any part (e.g., a trunk part, an arm part, or a leg part) included in the robot 10.

[0255] [11-3. Modification Example 3]

[0256] As another modified example, in the embodiment described above, an example has been described in which the control device according to the present disclosure is the robot 10, but the present disclosure is not limited to such an example, and the control device may be a device other than the robot 10. For example, the control device may be a server, a general-purpose PC (personal computer), a tablet terminal, a game console, a mobile phone such as a smartphone, a wearable device such as an HMD (head mounted display) or a smart watch, a vehicle-mounted device (e.g., a car navigation device), or another robot (e.g., a humanoid robot or a drone), or the like.

[0257] In this case, the control device may control the action of the robot 10 via the above-mentioned predetermined network. For example, the control device may first receive the sensing result obtained by the tactile sensor 106 and the sensing result obtained by the force sensor 108 from the robot 10, and calculate the contact force at each contact point when the gripper 104 and the object are in contact with each other based on these sensing results.

[0258] [11-4. Modification Example 4]

[0259] In addition, the steps included in the above processing do not necessarily have to be processed in a prescribed order. For example, the steps can be appropriately processed in a different order. Similarly, the steps can be partially processed in parallel or processed separately, rather than being processed in chronological order. In addition, some of the steps described can be omitted or other steps can be added.

[0260] In addition, a computer program for causing hardware such as a CPU, ROM, and RAM to exhibit substantially the same functions as those of the corresponding components of the robot 10 described above (e.g., the contact force determination section 110, the slip detector 112, the gripping controller 100, etc.) may also be created. In addition, a storage medium having the computer program stored therein is also provided.

[0261] In addition, the effects described herein are only illustrative and exemplary, and not restrictive. That is, in addition to the above effects, or instead of the above effects, the technology according to the present disclosure may also play other roles that are obvious to those skilled in the art based on the description of this article.

[0262] It is to be noted that the following configurations also belong to the technical scope of the present disclosure. (1)

[0264] A control device, comprising:

[0265] A clamping controller controls a clamping force related to the contact portion according to a contact force when the contact portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact portion and a sensing result obtained by a force sensor disposed at the contact portion. (2)

[0267] The control device according to (1), wherein:

[0268] The contact portion is a clamping portion, and

[0269] The clamping controller controls the clamping force of the clamping portion according to the contact force at each contact point, wherein the contact force at each contact point is calculated based on information related to each contact point when the clamping portion and the object are in contact with each other at one or more points and a sensing result obtained by the force sensor, and the information related to the individual contact point is determined based on the sensing result obtained by the tactile sensor. (3)

[0271] The control device according to (2), wherein the information about the respective contact points includes a total number of the respective contact points and information describing a positional relationship of the respective contact points. (4)

[0273] The control device according to (3), wherein the information related to the respective contact points further includes a contact strength ratio between the respective contact points. (5)

[0275] The control device according to (4), wherein the information indicating the positional relationship of the respective contact points includes positional information of the respective contact points within the clamping portion. (6)

[0277] A control device according to (4) or (5), wherein the clamping controller controls the clamping force of the clamping portion based on the contact force at the respective contact points, wherein the contact force at the respective contact points is calculated based on information related to the respective contact points and a resultant force of the contact forces between the clamping portion and the object, wherein the resultant force is determined based on a sensing result obtained by the force sensor. (7)

[0279] The control device according to (4) or (5), wherein:

[0280] The clamping portion is coupled to an actuator, or the clamping portion includes an actuator, and

[0281] The clamping controller controls the clamping force of the clamping portion according to the contact force at each contact point when the clamping portion and the object contact each other at one or more points, wherein the contact force is calculated based on information related to the each contact point and the generated force of the actuator, and the generated force of the actuator is determined based on the sensing result obtained by the force sensor. (8)

[0283] The control device according to any one of (4) to (7), further comprising:

[0284] A contact force calculator calculates the contact force at each of the contact points based on the information about the each of the contact points and the sensing result obtained by the force sensor. (9)

[0286] The control device according to (8), further comprising:

[0287] A slide detector detects a slide amount of the object relative to the gripping portion based on a sensing result obtained by the tactile sensor. (10)

[0289] The control device according to (9), wherein the slide detector further detects a slide amount of the object relative to the gripping portion based on the contact forces at the respective contact points calculated by the contact force calculator. (11)

[0291] The control device according to (10), wherein the slide detector further detects a slide amount of the object relative to the gripping portion based on a sensing result obtained by the force sensor. (12)

[0293] The control device according to (10) or (11), wherein the slide detector determines whether to detect a slide amount of the object relative to the gripping portion further based on whether contact between the gripping portion and the object has been detected. (13)

[0295] A control device according to any one of (9) to (12), wherein the clamping controller controls the clamping force of the clamping portion based on the contact forces at the respective contact points calculated by the contact force calculator and the sliding amount detected by the sliding detector. (14)

[0297] The control device according to (13), wherein the gripping controller further controls the gripping force of the gripping portion according to an upper limit of a contact force when the contact portion and the object are in contact with each other, the upper limit being specified by a user. (15)

[0299] A control device according to (13) or (14), wherein the clamping controller further controls the clamping force of the clamping portion based on a target value of the contact force of the clamping portion relative to the object, wherein the target value is specified by a user. (16)

[0301] A control device according to any one of (13) to (15), wherein the clamping controller also controls the clamping force of the clamping portion based on information indicating the relationship between the state of the object when the clamping portion clamped the object in the past and the clamping force of the clamping portion. (17)

[0303] The control device according to any one of (13) to (16), wherein the clamping controller further controls the clamping force of the clamping portion based on a recognition result of a state of the object during contact between the clamping portion and the object. (18)

[0305] A control device according to any one of (13) to (17), wherein the clamping controller also switches the type of control to be performed on the clamping portion or control parameters related to the clamping portion according to whether contact between the clamping portion and the object has been detected. (19)

[0307] A control method, comprising:

[0308] A gripping force associated with the contact portion is controlled by a processor according to a contact force when the contact portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact portion and a sensing result obtained by a force sensor disposed at the contact portion. (20)

[0310] A program for causing a computer to function as:

[0311] A gripping controller controls a gripping force associated with the contact portion according to a contact force when the contact portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the contact portion and a sensing result obtained by a force sensor disposed at the contact portion.

[0312] Reference Mark List

[0313] 10. Robot

[0314] 100 Clamping Controller

[0315] 102 Clamping Force Calculator

[0316] 104 Clamping part

[0317] 106 Tactile Sensor

[0318] 108 Force Sensor

[0319] 110 Contact force determination unit

[0320] 112 Slide detector

[0321] 130 Actuator

[0322] 150 Contact quantity calculator

[0323] 152 Contact Position Calculator

[0324] 154 Contact Strength Calculator

[0325] 156 Contact Force Calculator

[0326] 200 Contact force threshold memory

[0327] 202 Object Recognizer

[0328] 204 Contact force upper limit determination unit

[0329] 206 Input

[0330] 208 Clamping state identifier

[0331] 210 Contact detector

[0332] 212 Main Controller

Claims

1. A control device, comprising: A clamping controller that controls a clamping force associated with the clamping portion according to a contact force when the clamping portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor provided at the clamping portion and a sensing result obtained by a force sensor provided at the clamping portion, wherein The clamping controller controls the clamping force of the clamping portion according to contact forces at respective contact points calculated based on information about respective contact points when the clamping portion and the object are in contact with each other at one or more points and sensing results obtained by the force sensor, the information about the respective contact points being determined based on the sensing results obtained by the tactile sensor, and The information about the respective contact points includes a total number of the respective contact points, information indicating a positional relationship between the respective contact points, and a contact strength ratio between the respective contact points.

2. The control device according to claim 1, wherein: The information indicating the positional relationship of the respective contact points includes positional information of the respective contact points within the clamping portion.

3. The control device according to claim 1, wherein: The clamping controller controls the clamping force of the clamping portion according to the contact force at the respective contact points, wherein the contact force at the respective contact points is calculated based on information related to the respective contact points and a resultant force of the contact forces between the clamping portion and the object, wherein the resultant force is determined based on a sensing result obtained by the force sensor.

4. The control device according to claim 1, wherein: The clamping portion is coupled to an actuator, or the clamping portion includes an actuator, and The clamping controller controls the clamping force of the clamping portion according to the contact force at each contact point when the clamping portion and the object contact each other at one or more points, wherein the contact force is calculated based on information related to the each contact point and the generated force of the actuator, and the generated force of the actuator is determined based on the sensing result obtained by the force sensor.

5. The control device according to claim 1, further comprising: A contact force calculator calculates the contact force at each of the contact points based on the information about the each of the contact points and the sensing result obtained by the force sensor.

6. The control device according to claim 5, further comprising: A slide detector detects a slide amount of the object relative to the gripping portion based on a sensing result obtained by the tactile sensor.

7. The control device according to claim 6, wherein: The slide detector also detects a slide amount of the object relative to the gripping portion based on the contact forces at the respective contact points calculated by the contact force calculator.

8. The control device according to claim 7, wherein: The slide detector also detects a slide amount of the object relative to the gripping portion based on a sensing result obtained by the force sensor.

9. The control device according to claim 7, wherein: The slide detector also determines whether to detect a slide amount of the object relative to the gripping portion based on whether contact between the gripping portion and the object has been detected.

10. The control device according to claim 6, wherein: The clamping controller controls the clamping force of the clamping portion according to the contact force at each contact point calculated by the contact force calculator and the slip amount detected by the slip detector.

11. The control device according to claim 10, wherein: The clamp controller also controls the clamping force of the clamping portion according to an upper limit of a contact force when the clamping portion and the object are in contact with each other, the upper limit being specified by a user.

12. The control device according to claim 10, wherein: The clamp controller also controls the clamping force of the clamping portion according to a target value of a contact force of the clamping portion with respect to the object, the target value being specified by a user.

13. The control device according to claim 10, wherein: The clamp controller also controls the clamping force of the clamping portion based on information indicating a relationship between a state of the object and the clamping force of the clamping portion when the clamping portion clamped the object in the past.

14. The control device according to claim 10, wherein: The clamping controller also controls a clamping force of the clamping portion according to a recognition result of a state of the object during contact between the clamping portion and the object.

15. The control device according to claim 10, wherein: The grip controller also switches a type of control to be performed on the grip portion or a control parameter related to the grip portion according to whether contact between the grip portion and the object has been detected.

16. A control method, comprising: A clamping force associated with the clamping portion is controlled by a processor according to a contact force when the clamping portion and an object are in contact with each other, the contact force being based on a sensing result obtained by a tactile sensor disposed at the clamping portion and a sensing result obtained by a force sensor disposed at the clamping portion, wherein controlling the clamping force of the clamping portion according to contact forces at respective contact points calculated based on information about respective contact points when the clamping portion and the object are in contact with each other at one or more points and sensing results obtained by the force sensor, the information about the respective contact points being determined based on the sensing results obtained by the tactile sensor, and The information about the respective contact points includes a total number of the respective contact points, information indicating a positional relationship between the respective contact points, and a contact strength ratio between the respective contact points.

17. A computer-readable recording medium storing a program for causing a computer to function as: A clamping controller that controls a clamping force associated with the clamping portion according to a contact force when the clamping portion and an object contact each other, the contact force being based on a sensing result obtained by a tactile sensor provided at the clamping portion and a sensing result obtained by a force sensor provided at the clamping portion, wherein The clamping controller controls the clamping force of the clamping portion according to contact forces at respective contact points calculated based on information about respective contact points when the clamping portion and the object are in contact with each other at one or more points and sensing results obtained by the force sensor, the information about the respective contact points being determined based on the sensing results obtained by the tactile sensor, and The information about the respective contact points includes a total number of the respective contact points, information indicating a positional relationship between the respective contact points, and a contact strength ratio between the respective contact points.

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