Information processing device, information processing method, and program

Abstract

The present technology relates to an information processing device, an information processing method, and a program which enable a grasped object to be more stably arranged. An information processing device according to one aspect of the present technology detects slippage generated on an object being grasped by a finger portion constituting a grasping unit, and, on the basis of the slippage generated on the object, estimates an external force and an external moment applied to the object. In addition, the information processing device controls operation of an arm unit on the basis of the estimated external force and external moment, and adjusts at least one of the position and attitude of the finger portion constituting the grasping unit, with which the arm unit is provided. This technology can be applied to a robot hand control device.

Description

[Technical Field]

[0001] In particular, the present technology relates to an information processing device, an information processing method, and a program that enable a grasped object to be positioned more stably. [Background technology]

[0002] Various techniques have been proposed for grasping an object with a robot hand and stably positioning it.

[0003] For example, Patent Document 1 discloses a technology in which a workpiece is transported to the vicinity of a target position, and then the gripping force of a hand unit is reduced to drop the workpiece onto a flat surface so that the workpiece conforms to the flat surface. When the workpiece is dropped onto the flat surface, a slippage is detected using a slippage sensor, and the gripping force is adjusted so that the amount of slippage of the workpiece is below a preset threshold. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-206206 [Patent Document 2] Japanese Patent Application Laid-Open No. 2009-255191 [Patent Document 3] Japanese Patent Application Laid-Open No. 2007-276112 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 requires that a threshold value for the amount of slippage be set in advance for each object, making it difficult to apply to unknown objects. Also, since the workpiece is dropped according to gravity, there is a risk that excessive impact will be applied to the workpiece.

[0006] The present technology has been made in view of such circumstances, and makes it possible to more stably position a grasped object. [Means for solving the problem]

[0007] An information processing device according to one aspect of the present technology includes a slippage detection unit that detects slippage that occurs in an object being grasped by fingers that constitute a gripping unit, an estimation unit that estimates an external force and external moment applied to the object based on the slippage that occurs in the object, and an arm control unit that controls the operation of an arm unit based on the estimated external force and external moment, and adjusts at least one of the position and posture of the fingers that constitute the gripping unit provided on the arm unit.

[0008] In one aspect of the present technology, slippage occurring in an object grasped by fingers constituting a gripping unit is detected, and an external force and an external moment applied to the object are estimated based on the slippage occurring in the object. Furthermore, the operation of an arm unit is controlled based on the estimated external force and external moment, and at least one of the position and the posture of the fingers constituting the gripping unit provided on the arm unit is adjusted. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an external appearance of a robot hand according to an embodiment of the present technology. FIG. [Figure 2] FIG. 2 is an enlarged view of a part of the fingertip. [Figure 3] FIG. 10 is a diagram showing how the device is gripped with fingertips. [Figure 4] FIG. 1 is a diagram illustrating an example of the appearance of a robot to which a hand unit is attached. [Figure 5] FIG. 10 is a diagram showing how an object to be grasped is placed. [Figure 6] FIG. 1 is a diagram illustrating forces acting on an object. [Figure 7] FIG. 1 is a diagram illustrating a model explaining Hertz's contact theory. [Figure 8] FIG. 10 is a diagram illustrating an example in which an external force acts on an object. [Figure 9] FIG. 1 is a block diagram illustrating an example of the configuration of an information processing device. [Figure 10] 10 is a flowchart illustrating a gripping force control and arm control process. [Figure 11] 11 is a flowchart illustrating a gripping force control process performed in step S4 of FIG. [Figure 12] 11 is a flowchart illustrating an arm control process performed in step S5 of FIG. 10. [Figure 13] 10A and 10B are diagrams illustrating examples of arrangement of contact portions. [Figure 14] 10A and 10B are diagrams illustrating changes in the state of the contact portion. [Figure 15] 10A and 10B are diagrams illustrating examples of changes in gripping posture. [Figure 16] 10A and 10B are diagrams illustrating an example of adjustment of a gripping posture. [Figure 17] FIG. 10 is a block diagram showing another example of the configuration of the information processing device. [Figure 18] FIG. 10 is a block diagram showing an example of the configuration of a hand attitude rotation axis calculation unit. [Figure 19] FIG. 10 is a block diagram showing another example of the configuration of the hand attitude rotation axis calculation unit. [Figure 20] FIG. 1 is a diagram illustrating an example of the configuration of a control system. [Figure 21] FIG. 1 is a block diagram illustrating an example of the configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present technology will be described in the following order. 1. Robot hand configuration 2. Placement of unknown objects 3. Estimation of external force and moment using slip detection 4. Configuration of information processing device 5. Operation of information processing device 6. Fingertip rotational displacement Δu theta Calculation of 7. Variations 8. Other Examples

[0011] <Robot hand configuration> FIG. 1 is a diagram illustrating an external appearance of a robot hand according to an embodiment of the present technology.

[0012] A hand unit 1, which is a robot hand according to an embodiment of the present technology, is a two-fingered gripper-type grasping unit as shown in Fig. 1. Finger units 12A and 12B, which constitute two fingers, are attached to a base unit 11. The base unit 11 functions as a support unit that supports the multiple finger units 12.

[0013] Finger portion 12A is formed by connecting member 21A and member 22A, which are plate-like members having a predetermined thickness. Member 22A is provided on the tip side of member 21A attached to base portion 11. The connecting portion between base portion 11 and member 21A, and the connecting portion between member 21A and member 22A each have a predetermined range of motion. Contact portion 23A, which comes into contact with an object to be grasped, is provided on the inside of member 22A. Member 22A and contact portion 23A form fingertip portion 31A.

[0014] Finger portion 12B has the same configuration as finger portion 12A. Member 22B is provided at the tip side of member 21B attached to base portion 11. The connecting portion between base portion 11 and member 21B, and the connecting portion between member 21B and member 22B each have a predetermined range of motion. Contact portion 23B is provided on the inside of member 22B. Member 22B and contact portion 23B form fingertip portion 31B.

[0015] Hereinafter, when there is no need to distinguish between the finger portion 12A and the finger portion 12B, they will be collectively referred to as the finger portion 12. Other configurations that are provided in pairs will also be collectively described as appropriate.

[0016] Fig. 2 is an enlarged view of a part of fingertip 31. Fig. 2A shows the side of fingertip 31, and Fig. 2B shows the front (inner surface) of fingertip 31.

[0017] As indicated by hatching, a tactile sensor 24 is provided below the contact portion 23. As the tactile sensor 24, for example, a pressure distribution sensor capable of detecting pressure at each position on the contact portion 23 is used.

[0018] The contact portion 23 is made of an elastic material such as rubber, and forms a semi-spherical flexible deformation layer.

[0019] Fingertip 31A and fingertip 31B have a parallel link mechanism. Fingertip 31A and fingertip 31B are driven so that their inner surfaces remain parallel. As shown in FIG. 3, object O to be grasped is grasped by being sandwiched between contact portion 23A on the fingertip 31A side and contact portion 23B on the fingertip 31B side, which are arranged so that their inner surfaces are parallel.

[0020] As will be described in detail later, since the contact portion 23 is made of an elastic material, the contact portion 23 that comes into contact with the object O will deform in response to gravity acting on the object O and the like.

[0021] FIG. 4 is a diagram showing an example of the appearance of a robot to which the hand unit 1 is attached.

[0022] As shown in Fig. 4, the robot 41 to which the hand unit 1 is attached has a humanoid upper body and a wheeled mobility mechanism. A flattened spherical head 52 is provided on top of the body 51. A visual sensor 52A, such as an RGB camera, is provided in front of the head 52.

[0023] Arms 2L and 2R, which are manipulators with multiple degrees of freedom, are provided at the upper end of the body 51. Hands 1L and 1R, which are end effectors, are provided at the tip of each of the arms 2L and 2R. The hand 1L is the hand 1 that serves as the left hand of the robot 41, and the hand 1R is the hand 1 that serves as the right hand of the robot.

[0024] A carriage-like moving body 53 is provided at the bottom end of the body 51. The robot 41 can move by rotating wheels provided on the left and right sides of the moving body 53 and by changing the direction of the wheels.

[0025] In this way, the robot 41 is a robot that can perform various tasks such as grasping an object with the hand unit 1 and transporting the object while grasping it. The arm units 2L and 2R provided on the mobile robot 41 serve as so-called mobile manipulators.

[0026] <About the placement of unknown objects> To grasp an unknown object with a robot hand and place it stably, it is necessary to control the robot hand taking into account the following points: An unknown object is an object whose properties, such as mass, center of gravity, and coefficient of friction, are unknown.

[0027] To place an object without crushing or sliding it, it must be placed with an appropriate gripping force, taking into account external forces and external moments. If the gripping state changes due to rotation caused by a shift in the center of gravity, the object must be positioned by adjusting its posture.

[0028] FIG. 5 is a diagram showing how an object is placed.

[0029] As shown in the upper part of Fig. 5, a horizontally elongated rectangular parallelepiped object O is held by pinching the base of the object between the fingertips 31, and is then brought into contact with the floor from the bottom of the tip, and placed on the floor as shown in the lower part of Fig. 5. The floor serves as the placement surface. In order to stably place the object O, the arm unit 2 is operated while placing the object O, thereby controlling the position and posture of the hand unit 1 including the fingertips 31, as shown by arrow #1.

[0030] FIG. 6 is a diagram showing forces acting on an object.

[0031] Object O is subjected to gravity m as shown by arrow #11. gIn addition, by bringing object O into contact with the floor, an external force N acts as a normal force from the floor at the contact point between object O and the floor, as shown by arrow #12.

[0032] At the fingertip 31, a shear force F R acts on the shaft, and a moment M acts on the shaft as shown by arrow #14. R works.

[0033] The balance between the force generated by the robot 41 and the force acting on the object O is expressed by equation (1).

number

[0034] Moreover, the balance between the moment generated by the robot 41 and the moment acting on the object O is expressed by equation (2).

number

[0035] In equation (2), l1 is the distance from the gripping position to the center of gravity of object O (the distance between the perpendicular lines passing through each position). Also, l2 is the distance from the gripping position to the position where the normal force acts (the distance between the perpendicular lines passing through each position). The external moment, which is the moment generated by the normal force from the floor, is expressed as Nl2.

[0036] Considering the multiple finger units 12 provided on the hand unit 1, equation (1) can be expressed as equation (3). Furthermore, equation (2) can be expressed as equation (4). In equations (3) and (4), the subscript i represents each finger.

number

number

[0037] In the robot 41, slippage occurring on the object O is detected using the slippage sense realized by the tactile sensor 24, and the external force N and the external moment Nl2 are estimated based on the result of the slippage detection.

[0038] <External force and moment estimation using slip detection> FIG. 7 is a diagram showing a model illustrating Hertz's contact theory.

[0039] In FIG. 7, an elastic ball 111 corresponds to the contact part 23 of the hand unit 1, and a rigid flat plate 110 corresponds to the object O.

[0040] The left side of Fig. 7 shows a state in which a rigid plate 110 is in contact with an elastic sphere 111 in the horizontal direction. On the other hand, the right side of Fig. 7 shows a state in which a normal force f n is applied, and a horizontal shear force f t This shows how it has been added.

[0041] As shown on the right side of Figure 7, the shear force f t By applying a shear force f t The position of contact between the rigid plate 110 and the elastic ball 111 is determined by the shear force f t The displacement u from the position before r Move only.

[0042] Displacement u r is the displacement generated at the fingertip 31 of the hand 1 of the robot 41. Hereinafter, the shear force f t The amount of displacement at the position of the fingertip 31 caused by the application of a force equivalent to the above is called the fingertip shear displacement u r The amount of rotational displacement generated at the fingertip 31 is called the fingertip rotational displacement amount u theta At the fingertip 31, the shear force f t When a force equivalent to the above is applied, a rotational displacement also occurs.

[0043] Fingertip shear displacement u ris expressed by equation (5) according to Hertz's contact theory.

number

[0044] In equation (5), R is the radius of curvature of the elastic sphere 111. G * is the composite transverse elastic modulus of the elastic sphere 111 and the rigid plate 110, and E * is the composite longitudinal elastic modulus of the elastic sphere 111 and the rigid plate 110.

[0045] Here, the radius of curvature R and the composite transverse elastic modulus G * , and the composite longitudinal elastic modulus E * is the physical information of the elastic ball 111 and the rigid plate 110, and is a constant. r is the normal force f n and shear force f t will depend on.

[0046] On the other hand, the fingertip rotation displacement u theta is expressed by equation (6).

number

[0047] Fingertip rotation displacement u theta is the normal force f n and the moment M.

[0048] Next, the robot 41 applies a gripping force f nR Consider the case where an external force N acts on object O while the object O is being grasped. As described with reference to Figures 5 and 6, when object O is placed on the floor, external force N acts on object O as a normal force.

[0049] FIG. 8 is a diagram showing an example in which a case in which an external force N acts on an object O is applied to the model described with reference to FIG.

[0050] As shown in Fig. 8, the normal force f in Fig. 7 nis the gripping force f nR Also, the shear force f in Fig. 7 corresponds to t corresponds to the external force N. In the state of FIG. 8, the moment M corresponds to the external moment Nl2.

[0051] The fingertip shear displacement Δu is the amount of fingertip shear displacement when an external force N acts on an object O. r is expressed as equation (7) by transforming equation (5). In addition, the fingertip rotation displacement Δu theta is expressed as equation (8) by modifying equation (6).

number

number

[0052] As expressed in equation (7), the fingertip shear displacement Δu r is the gripping force f nR and the external force N. The gripping force f nR is known in the control unit that controls the gripping force of the hand unit 1, so the fingertip shear displacement Δu r By observing this, it is possible to estimate the external force N.

[0053] As expressed in equation (8), the fingertip rotation displacement Δu theta is the gripping force f nR and the external moment Nl2. The gripping force f nR is known, the fingertip rotation displacement Δu theta By observing this, it is possible to estimate the external moment Nl2.

[0054] As will be described later, in the robot 41, the fingertip shear displacement amount Δu r and fingertip rotation displacement Δu theta is observed based on the detection result by the tactile sensor 24. Also, the fingertip shear displacement Δu r The external force N is estimated based on the observation results, and the fingertip rotation displacement Δu thetaThe external moment Nl2 is estimated based on the observation results.

[0055] Here, the fingertip shear displacement Δu r and fingertip rotation displacement Δu theta and Δu correspond to the change in the magnitude of sliding of the elastic ball 111 relative to the rigid plate 110 (for example, the change per unit time). In other words, the fingertip shear displacement Δu r and fingertip rotation displacement Δu theta are values ​​indicating the degree of sliding of the elastic ball 111 relative to the rigid plate 110.

[0056] The slippage shown in FIGS. 7 and 8 is the so-called initial slippage, since the absolute contact position moves while the relative positional relationship between the contact positions of elastic ball 111 and rigid plate 110 is maintained.

[0057] The slippage detected based on the output of the tactile sensor 24 is an initial slippage where a sticking portion (a portion where static friction occurs) and a slipping portion (a portion where dynamic friction occurs) are mixed on the contact surface between the contact portion 23 of the fingertip 31 and the grasped object. The external force N and the external moment Nl2 are estimated using the initial slippage.

[0058] <Configuration of information processing device> FIG. 9 is a block diagram showing an example of the configuration of the information processing device 201.

[0059] The information processing device 201 is configured by a computer such as a PC. The computer configuring the information processing device 201 is housed in, for example, the body part 51. A CPU of the information processing device 201 executes a predetermined program, thereby realizing each of the functional parts shown in FIG. 9.

[0060] As shown in FIG. 9, in the information processing device 201, a recognition and planning unit 211, a calculation unit 212, and a control unit 213 are realized.

[0061] The recognition and planning unit 211 is composed of a recognition unit 221, a command unit 222, a placement position determination unit 223, and an operation planning unit 224. Sensor data representing the detection results by the sensor unit 202 is input to the recognition unit 221. The sensor unit 202 is composed of sensors provided in each part of the robot 41, including the visual sensor 52A. The sensor unit 202 includes various sensors such as an RGB camera, a distance sensor, a ToF sensor, a temperature sensor, a gyro sensor, and an acceleration sensor.

[0062] The recognition unit 221 recognizes the situation of the robot 41 as well as the environment around the robot 41 based on the sensor data supplied from the sensor unit 202. The environment recognized by the recognition unit 221 includes the position and orientation of the object to be grasped. The recognition result by the recognition unit 221 is supplied to the placement position determination unit 223.

[0063] The command unit 222 determines a task to be executed by the robot 41, and outputs information about the determined task to the placement position determination unit 223. For example, a task of placing a grasped object is determined.

[0064] The placement position determination unit 223 determines the placement position of the object to be grasped based on the recognition result by the recognition unit 221 and the task determined by the command unit 222. The placement position determination unit 223 outputs information on the placement position of the object to the operation planning unit 224.

[0065] The motion planning unit 224 plans the motion of the arm unit 2 according to the placement position determined by the placement position determination unit 223, the current position of the arm unit 2, etc. The motion planning unit 224 outputs information regarding the motion of the arm unit 2 to the arm control unit 241.

[0066] The calculation unit 212 is composed of an initial slippage detection unit 231, an initial slippage direction calculation unit 232, an initial slippage amount calculation unit 233, a hand position / posture calculation unit 234, and a grip force calculation unit 235. The initial slippage detection unit 231, the initial slippage direction calculation unit 232, and the initial slippage amount calculation unit 233 are provided for each finger unit 12 in correspondence with each finger unit 12.

[0067] The initial slip detection unit 231 detects an initial slip based on the pressure distribution detected by the tactile sensor 24, which functions as a slip sensor. For example, the initial slip detection unit 231 detects a movement of the center of pressure as an initial slip. The position of the center of pressure in the X direction is the pressure center position X cop is expressed by equation (9).

number

[0068] In equation (9), x i represents the position in the X direction (X coordinate) on the inner surface of the fingertip 31, and p(x i ) is the position x i The pressure in the Y direction is expressed in the same way. N represents the number of distributions.

[0069] The detection of an initial slip is repeatedly performed at a predetermined sampling period by the initial slip detection unit 231. Information on the position of the center of pressure at each timing detected by the initial slip detection unit 231 is supplied to an initial slip direction calculation unit 232 and an initial slip amount calculation unit 233.

[0070] The initial slip direction calculation unit 232 calculates the direction of change in the position of the center of pressure as the direction of initial slip based on the detection result by the initial slip detection unit 231. Information indicating the direction of initial slip calculated by the initial slip direction calculation unit 232 is supplied to the hand position / posture calculation unit 234.

[0071] The initial slippage calculation unit 233 calculates the initial slippage based on the detection result by the initial slippage detection unit 231. For example, the initial slippage calculation unit 233 calculates the amount of change (difference) in the pressure center position as the fingertip shear displacement amount Δu r The change in the rotation direction (angle direction) of the pressure center position is calculated as the fingertip rotation displacement Δu theta It is calculated as follows.

[0072] Fingertip rotation displacement Δu thetaThe calculation of the fingertip rotational displacement Δu is performed, for example, based on the relative change amounts of a plurality of pressure center positions detected using a plurality of contact parts 23. theta The calculation of will be described in detail later.

[0073] The fingertip shear displacement amount Δu calculated by the initial slippage amount calculation unit 233 r and fingertip rotation displacement Δu theta The information representing the initial slippage amount is supplied to the hand position / posture calculation unit 234 and the grip force calculation unit 235.

[0074] The hand position / posture calculation unit 234 calculates the fingertip shear displacement Δu calculated by the initial slippage calculation unit 233. r is applied to equation (7) to calculate (estimate) the magnitude of the external force N. The hand position / posture calculation unit 234 estimates the direction of the external force N based on the direction of the initial slip calculated by the initial slip direction calculation unit 232.

[0075] The hand position / posture calculation unit 234 calculates the fingertip rotational displacement Δu calculated by the initial slippage calculation unit 233. theta is applied to equation (8) to calculate the magnitude of the external moment Nl2. The hand position / posture calculation unit 234 estimates the direction of the external moment Nl2 based on the direction of the initial slip calculated by the initial slip direction calculation unit 232.

[0076] The hand position / posture calculation unit 234 functions as an estimation unit that estimates the magnitude and direction of the external force N and the magnitude and direction of the external moment Nl2.

[0077] The hand position / posture calculation unit 234 calculates the position and posture of the fingertip 31 based on the estimated external force N and external moment Nl2. For example, the hand position / posture calculation unit 234 calculates the position and posture of the fingertip 31 so that the balance between the external force N and the force generated by the robot 41 is maintained, and the balance between the external moment Nl2 and the moment generated by the robot 41 is maintained. Information on the position and posture of the fingertip 31 calculated by the hand position / posture calculation unit 234 is supplied to the arm control unit 241.

[0078] Here, the position and posture of the fingertip portion 31, which corresponds to the hand of the robot 41, is controlled, but the position and posture of the finger portion 12 or the position and posture of the hand portion 1 may be controlled instead of the position and posture of the fingertip portion 31, or these positions and postures may be controlled together with the position and posture of the fingertip portion 31.

[0079] The grip force calculation unit 235, like the hand position / posture calculation unit 234, calculates the fingertip shear displacement Δu calculated by the initial slippage calculation unit 233. rと Fingertip rotation displacement Δu theta Based on this, the magnitude of the external force N and the magnitude of the external moment Nl2 are calculated.

[0080] The gripping force calculation unit 235 calculates the gripping force f of the hand unit 1 based on the estimated external force N and external moment Nl2. nR For example, the gripping force calculation unit 235 calculates the gripping force f of the hand unit 1 such that the balance between the external force N and the force generated by the robot 41 is maintained, and the balance between the external moment N12 and the moment generated by the robot 41 is maintained. nR Calculate.

[0081] The gripping force f that balances the external force N and the force generated by the robot 41 is nR For example, the estimated external force N is canceled out, that is, the observed fingertip shear displacement Δu r is calculated to be 0. In addition, the gripping force f nR For example, the estimated external moment Nl2 is canceled out, that is, the observed fingertip rotation displacement Δu theta The grip force f estimated by the grip force calculation unit 235 is calculated so that nR This information is supplied to the hand control unit 242.

[0082] The control unit 213 is composed of an arm control unit 241 and a hand control unit 242 .

[0083] The arm control unit 241 controls the arm unit 2 in accordance with the plan made by the motion planning unit 224. The arm unit 2 moves to the vicinity of the placement position of the object to be grasped under the control of the arm control unit 241. Furthermore, the arm control unit 241 controls the arm unit 2 in accordance with an arm control algorithm.

[0084] For example, the arm control unit 241 controls the arm unit 2 so that the position and posture of the fingertip 31 become the position and posture calculated by the hand position / posture calculation unit 234. The adjustment of the position and posture of the fingertip 31 by the arm control algorithm is performed so as to cancel out the initial slip caused by the external force / external moment, that is, so as to make the amount of initial slip zero. At least one of the position and posture may be adjusted.

[0085] The hand control unit 242 controls the gripping force f of the hand unit 1 according to the gripping force control algorithm. nR The hand control unit 242 controls the hand unit 1 and controls the gripping force f calculated by the gripping force calculation unit 235. nR The object is grasped by the robot.

[0086] <Operation of information processing device> The gripping force control and arm control process will be described with reference to the flowchart of FIG.

[0087] In step S1, the initial slip detection unit 231 detects a movement of the pressure center position as an initial slip based on the output of the tactile sensor 24.

[0088] In step S2, the initial slip direction calculation unit 232 calculates the direction of the initial slip based on the direction of movement of the pressure center position.

[0089] In step S3, the initial slippage calculation unit 233 calculates the initial slippage. For example, the amount of change in the pressure center position is expressed as the fingertip shear displacement amount Δu r and the change in the rotation direction of the pressure center position is calculated as the fingertip rotation displacement Δu theta It is calculated as:

[0090] In step S4, a gripping force control process is performed. By the gripping force control process, the gripping force f of the hand unit 1 is controlled in accordance with the gripping force control algorithm. nR The gripping force control process will be described in detail later with reference to the flowchart of FIG.

[0091] In step S5, an arm control process is performed. The arm control process controls the operation of the arm unit 2 according to an arm control algorithm, and adjusts the position and posture of the fingertip unit 31. R The arm control process will be described in detail later with reference to the flowchart of FIG.

[0092] Next, the gripping force control process performed in step S4 of FIG. 10 will be described with reference to the flowchart of FIG.

[0093] In step S11, the grip force calculation unit 235 calculates the fingertip shear displacement amount Δu calculated by the initial slippage calculation unit 233. r is applied to equation (7) to calculate the magnitude of the external force N.

[0094] In step S12, the grip force calculation unit 235 calculates the fingertip rotational displacement amount Δu calculated by the initial slippage calculation unit 233. theta is applied to equation (8) to calculate the magnitude of the external moment Nl2.

[0095] In step S13, the gripping force calculation unit 235 calculates the gripping force f of the hand unit 1 such that the balance between the external force N and the force generated by the robot 41 is maintained, and the balance between the external moment N12 and the moment generated by the robot 41 is maintained. nR Calculate.

[0096] In step S14, the hand control unit 242 controls the hand unit 1 to calculate the gripping force f calculated by the gripping force calculation unit 235. nR Then, the process returns to step S4 in FIG. 10, and the subsequent steps are carried out.

[0097] Next, the arm control process performed in step S5 of FIG. 10 will be described with reference to the flowchart of FIG.

[0098] In step S21, the hand position / posture calculation unit 234 calculates the fingertip shear displacement Δu calculated by the initial slippage calculation unit 233. r is applied to equation (7) to calculate the magnitude of the external force N. Furthermore, the hand position / posture calculation unit 234 calculates the direction of the external force N based on the direction of the initial slip calculated by the initial slip direction calculation unit 232.

[0099] In step S22, the hand position / posture calculation unit 234 calculates the fingertip rotational displacement Δu calculated by the initial slippage calculation unit 233. theta is applied to equation (8) to calculate the magnitude of the external moment Nl2. Furthermore, the hand position / posture calculation unit 234 calculates the direction of the external moment Nl2 based on the direction of the initial slip calculated by the initial slip direction calculation unit 232.

[0100] In step S23, the hand position / posture calculation unit 234 calculates the position and posture of the fingertip 31 so that the balance between the external force N and the force generated by the robot 41 is maintained, and the balance between the external moment Nl2 and the moment generated by the robot 41 is maintained.

[0101] In step S24, the arm control unit 241 controls the arm unit 2 to adjust the position and posture of the fingertip 31 to the position and posture calculated by the hand position / posture calculation unit 234. Thereafter, the process returns to step S5 in Fig. 10, and the subsequent processes are carried out.

[0102] As described above, the robot 41 can detect minute changes in external force by using the tactile sensors 24 provided on the fingertips 31. Furthermore, the robot 41 can place an object even when the placement operation is difficult, such as when the object to be grasped is soft or the environment where the object is to be placed is soft.

[0103] By utilizing the slippage information detected by the tactile sensor 24 to simultaneously perform grip force control and arm control so as to maintain balance between forces and moments, the robot 41 becomes able to stably place an unknown object.

[0104] By controlling the gripping force so as to maintain a balance between the force and moment, the robot 41 can prevent the application of excessive force to the gripped object during the placement operation, which could result in the object being broken, or the application of too little force, which could cause the object to slip off.

[0105] That is, the robot 41 can place the grasped object more stably.

[0106] <Fingertip rotation displacement Δu theta Calculation of> Fingertip rotation displacement Δu theta As described above, is expressed by the amount of change in the rotation direction of the pressure center position. For example, the fingertip rotation displacement amount Δu theta The calculation is carried out as follows:

[0107] FIG. 13 is a diagram showing an example of the arrangement of the contact portion 23. In FIG.

[0108] As shown in Fig. 13, a plurality of contact portions 23 are arranged on the inner surface of the fingertip 31, which is the surface that comes into contact with the object to be grasped. In the example of Fig. 13, nine contact portions 23, contact portions 23-1 to 23-9, are arranged. A tactile sensor 24 is provided below the contact portions 23-1 to 23-9. The tactile sensor 24 detects the pressure distribution at positions corresponding to the contact portions 23-1 to 23-9, respectively.

[0109] In this way, by arranging a plurality of contact parts 23, it becomes possible to detect a plurality of pressure center positions corresponding to the number of contact parts 23. Fingertip rotational displacement amount Δu theta is calculated based on the relative movement amounts of the multiple pressure center positions.

[0110] FIG. 14 is a diagram showing changes in the state of the contact portion 23. As shown in FIG.

[0111] The left side of Fig. 14 shows the state of the contact portion 23 before an external force is applied, and the right side of Fig. 14 shows the state of the contact portion 23 when an external force is applied. Fig. 14 shows the states of the contact portions 23-1 to 23-3. copi ,y copi are the positions of the pressure center of the contact portion 23-i (i=1 to 9) before rotation in the X and Y directions, respectively. copi ,y' copi are the positions of the pressure center position of the contact portion 23-i after rotation in the X and Y directions, respectively.

[0112] Position of the center of pressure before and after rotation and fingertip rotation displacement Δu theta The relationship between these two is expressed as in equation (10) using affine transformation. The 3-by-3 matrix on the left side of equation (10) determines the fingertip rotation displacement Δu theta is represented.

number

[0113] For example, by focusing on each contact point 23, the relationship expressed by equation (10) can be obtained for the same number of contact points 23. The fingertip rotational displacement amount Δu when focusing on each contact point 23 is theta The fingertip rotation displacement Δu is calculated by approximating the theta is required.

[0114] In addition, in equation (10), Δu x represents the change in the position of the center of pressure in the X direction. y represents the amount of change in the Y-direction position of the center of pressure.

[0115] <Modification> When the gripping position changes FIG. 15 is a diagram showing an example of a change in the gripping posture.

[0116] A, B, and C in Fig. 15 show the change in grip posture in the direction of the pitch axis, roll axis, and yaw axis, respectively. Contact with the floor surface can cause the grip posture to change as shown in Fig. 15.

[0117] In the robot 41, the initial sliding direction and the total pressure value are calculated based on the detection results of the tactile sensors 24 provided on the fingertips 31 of the left finger 12A and the right finger 12B. The total pressure value is the sum of the pressures detected at each position of the tactile sensors 24.

[0118] Furthermore, the rotation axis of the tilt of the grasped object relative to the floor surface (the rotation axis of the tilt of the grasping posture of the fingertip 31) is calculated based on the relationship between the initial sliding direction and the pressure total value.

[0119] By controlling the arm unit 2 so as to cancel out the tilt of the grasped object relative to the floor surface and adjusting the posture of the fingertips 31, it becomes possible to arrange the posture of the object O and place it.

[0120] FIG. 16 is a diagram illustrating an example of adjustment of the gripping posture.

[0121] When the object O is tilted in the pitch axis direction, the orientation of the object O is adjusted by adjusting the orientation of the fingertip 31 in the pitch axis direction, as shown in A of Fig. 16. Similarly, when the object O is tilted in the roll axis direction or the yaw axis direction, the orientation of the object O is adjusted by adjusting the orientation of the fingertip 31 in the roll axis direction and the yaw axis direction, as shown in B and C of Fig. 16.

[0122] FIG. 17 is a block diagram showing another example of the configuration of the information processing device 201.

[0123] In Fig. 17, the same components as those described with reference to Fig. 9 are denoted by the same reference numerals. Duplicate explanations will be omitted as appropriate. The configuration of the information processing device 201 shown in Fig. 17 is the same as the configuration described with reference to Fig. 9, except that a hand posture rotation axis calculation unit 251 is additionally provided.

[0124] The hand posture rotation axis calculation unit 251 calculates the rotation axis of the tilt of the posture of the fingertip 31 and outputs information representing the rotation axis of the tilt to the hand position / posture calculation unit 234 .

[0125] The hand position / posture calculation unit 234 calculates the position and posture of the fingertip 31 so as to cancel out changes in position and posture due to initial slippage, taking into account the rotation axis of the tilt calculated by the hand posture rotation axis calculation unit 251.

[0126] The arm control unit 241 controls the arm unit 2 so that the position and posture of the fingertip 31 become the position and posture calculated by the hand position / posture calculation unit 234. The arm unit 2 is controlled by adjusting the position and posture of the fingertip 31 in the direction of the rotation axis calculated by the hand posture rotation axis calculation unit 251.

[0127] FIG. 18 is a block diagram showing an example of the configuration of the hand attitude rotation axis calculation unit 251.

[0128] As shown in FIG. 18, the hand posture rotation axis calculation unit 251 is made up of a left finger processing unit 261A, a right finger processing unit 261B, and a calculation unit 262.

[0129] The left finger processing unit 261A is composed of an initial slippage detection unit 271A, an initial slippage direction calculation unit 272A, and a pressure sum calculation unit 273A. Sensor data representing the pressure distribution detected by the tactile sensor 24A provided on the finger unit 12A, which is the left finger, is supplied to the initial slippage detection unit 271A and the pressure sum calculation unit 273A.

[0130] The initial slip detection unit 271A detects an initial slip by calculating the amount of movement of the pressure center position based on the detection result of the pressure distribution by the tactile sensor 24A. The detection result by the initial slip detection unit 271A is supplied to the initial slip direction calculation unit 272A.

[0131] The initial slip direction calculation unit 272A calculates the direction of change in the pressure center position as the direction of initial slip based on the detection result by the initial slip detection unit 271A, and outputs information indicating the direction of initial slip to the calculation unit 262.

[0132] The pressure sum calculation unit 273A calculates the sum of pressures at each position of the tactile sensor 24A based on the detection result of the pressure distribution by the tactile sensor 24A, and outputs information indicating the sum of pressures to the calculation unit 262.

[0133] On the other hand, the right finger processing unit 261B is composed of an initial slippage detection unit 271B, an initial slippage direction calculation unit 272B, and a pressure sum calculation unit 273B. In the right finger processing unit 261B, processing similar to that performed in the left finger processing unit 261A is performed based on sensor data representing pressure distribution detected by a tactile sensor 24B provided on the finger unit 12B, which corresponds to the right finger.

[0134] That is, the incipient slip detection unit 271B detects an incipient slip by calculating the amount of movement of the pressure center position based on the detection result of the pressure distribution by the tactile sensor 24B. The detection result by the incipient slip detection unit 271B is supplied to the incipient slip direction calculation unit 272B.

[0135] The initial slip direction calculation unit 272B calculates the direction of change in the pressure center position as the direction of initial slip based on the detection result by the initial slip detection unit 271B, and outputs information indicating the direction of initial slip to the calculation unit 262.

[0136] The pressure sum calculation unit 273B calculates the sum of pressures at each position of the tactile sensor 24B based on the detection result of the pressure distribution by the tactile sensor 24B, and outputs information indicating the sum of pressures to the calculation unit 262.

[0137] The initial slippage detection unit 271A and the initial slippage detection unit 271B can be realized by the initial slippage detection unit 231 in Fig. 17. Also, the initial slippage direction calculation unit 272A and the initial slippage direction calculation unit 272B can be realized by the initial slippage direction calculation unit 232 in Fig. 17.

[0138] The calculation unit 262 calculates the rotation axis of the tilt of the posture of the fingertip 31 based on the difference between the total pressure value calculated by the pressure total value calculation unit 273A and the total pressure value calculated by the pressure total value calculation unit 273B.

[0139] In calculating the rotation axis, the directions of the initial slip calculated by the initial slip direction calculation unit 272A and the initial slip direction calculation unit 272B are also taken into consideration. By taking the direction of the initial slip into consideration, the direction of the rotation force that the grasped object generates on the fingertip 31 due to contact with the floor surface, i.e., the rotation axis, is calculated. Information representing the rotation axis of the tilt of the orientation of the fingertip 31, calculated by the calculation unit 262, is output to the hand position / orientation calculation unit 234.

[0140] In this way, the rotation axis of the tilt of the posture of the fingertip 31 is calculated, the tilt of the posture is cancelled out, and the arm is controlled so as to maintain the balance of the force and moment as described above. Even if the gripping state changes due to rotation caused by a shift in the center of gravity, the robot 41 can adjust the posture of the object and place it.

[0141] In addition, arm control based on the rotation axis of the tilt of the posture of the fingertip 31 can be applied not only to the task of placing a grasped object, but also to other tasks, such as erasing letters written on a whiteboard using a cleaner.

[0142] In cases of multiple fingers When the number of finger portions provided on the hand portion 1 is large, such as three or more, the orientation information of each finger portion may be used to calculate the rotation axis of the tilt of the orientation of the fingertip portion 31.

[0143] FIG. 19 is a block diagram showing another example of the configuration of the hand attitude rotation axis calculation unit 251.

[0144] The configuration of the hand posture rotation axis calculation unit 251 shown in FIG. 19 is the same as the configuration described with reference to FIG. 18, except that the number of finger processing units 261 provided is the same as the number of finger units 12, and that a posture information acquisition unit 281 is additionally provided.

[0145] The posture information acquisition unit 281 calculates the posture of each finger based on the output of an encoder provided at a joint or the like that serves as a movable part of each finger, and outputs information representing the posture of each finger to the calculation unit 262. The encoder provided at the joint or the like of each finger outputs information representing the amount of movement of the joint or the like.

[0146] The calculation unit 262 calculates the rotation axis of the tilt of the grasped object relative to the floor surface by taking into consideration the posture information of each finger, in addition to the relationship between the initial sliding direction and the total pressure value calculated based on the detection results of the tactile sensors 24 of each finger. The information calculated by the calculation unit 262 and representing the rotation axis of the tilt of the posture of the fingertip 31 is output to the hand position / posture calculation unit 234.

[0147] By calculating the rotation axis of the tilt of the grasped object taking into account the posture information of each finger, it is possible to improve the accuracy of calculating the rotation axis compared to calculating the rotation axis of the tilt of the grasped object based solely on the relationship between the initial sliding direction and the total pressure value.

[0148] <Other examples> Sensor examples Although initial slippage is detected based on the pressure distribution detected by the pressure distribution sensor, initial slippage may also be detected using an optical sensor such as an RGB camera or a ToF sensor in addition to the pressure distribution sensor. When an optical sensor is used in combination, for example, the optical sensor measures the positional deviation of the contact portion 23, which is an elastic body.

[0149] In addition to the pressure distribution sensor, a force sensor may be used to detect an initial slippage. When a force sensor is used in combination, for example, when the magnitude of the force applied to the contact portion 23 reaches a magnitude that is preset as the magnitude of the force at which an initial slippage occurs, the occurrence of the initial slippage is detected.

[0150] When the arm unit 2 is controlled by the arm control algorithm, motion plan information representing the motion of the arm unit 2 may be used.

[0151] System configuration FIG. 20 is a diagram illustrating an example of the configuration of a control system.

[0152] 20 is configured by providing an information processing device 201 as a device external to the robot 41. In this manner, the information processing device 201 may be provided outside the housing of the robot 41.

[0153] Between the robot 41 and the information processing device 201 in FIG. 20, wireless communication using a wireless LAN or wireless communication using a mobile communication system is performed.

[0154] Various types of information, such as information indicating the state of the robot 41 and information indicating the detection results of the sensors, are transmitted from the robot 41 to the information processing device 201. Information for controlling the operation of the robot 41 and the like is transmitted from the information processing device 201 to the robot 41.

[0155] The robot 41 and the information processing device 201 may be directly connected as shown in A of Fig. 20, or may be connected via a network such as the Internet as shown in B of Fig. 20. The operations of multiple robots 41 may be controlled by one information processing device 201.

[0156] About Computers The above-described series of processes can be executed by hardware or software. When the series of processes is executed by software, the program constituting the software is installed from a program recording medium into a computer incorporated in dedicated hardware or a general-purpose personal computer.

[0157] FIG. 21 is a block diagram showing an example of the hardware configuration of a computer that executes the above-described series of processes using a program.

[0158] A CPU (Central Processing Unit) 1001 , a ROM (Read Only Memory) 1002 , and a RAM (Random Access Memory) 1003 are interconnected by a bus 1004 .

[0159] An input / output interface 1005 is also connected to the bus 1004. An input unit 1006 including a keyboard, a mouse, etc., and an output unit 1007 including a display, a speaker, etc. are connected to the input / output interface 1005. Also connected to the input / output interface 1005 are a storage unit 1008 including a hard disk, a nonvolatile memory, etc., a communication unit 1009 including a network interface, etc., and a drive 1010 that drives removable media 1011.

[0160] In a computer configured as described above, the CPU 1001 loads a program stored in the storage unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004 and executes the program, thereby performing the above-described series of processes.

[0161] The program executed by the CPU 1001 is installed in the storage unit 1008 by being recorded on a removable medium 1011, or provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting.

[0162] The program executed by the computer may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0163] In this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all the components are contained in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device with multiple modules housed in a single housing, are both systems.

[0164] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0165] The embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present technology.

[0166] For example, this technology can be configured as cloud computing, in which a single function is shared and processed collaboratively by multiple devices via a network.

[0167] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by multiple devices.

[0168] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices.

[0169] Configuration combination examples The present technology can also be configured as follows.

[0170] (1) a slippage detection unit that detects slippage occurring in an object being gripped by the fingers that constitute the gripping unit; an estimation unit that estimates an external force and an external moment applied to the object based on a slippage that has occurred on the object; an arm control unit that controls the operation of the arm unit based on the estimated external force and external moment, and adjusts at least one of the position and the posture of the finger unit that constitutes the gripping unit provided on the arm unit; An information processing device comprising: (2) The arm control unit controls the arm unit so that a balance is maintained between the estimated external force and a force generated on the object by the operation of the arm unit, and a balance is maintained between the estimated external moment and a moment generated on the object by the operation of the arm unit. The information processing device according to (1) above. (3) The gripping force control unit controls the gripping force of the gripping unit based on the estimated external force and external moment. The information processing device according to (1) or (2). (4) The gripping force control unit controls the gripping force so that a balance is maintained between the estimated external force and the force generated on the object by the gripping of the gripping unit, and a balance is maintained between the estimated external moment and the moment generated on the object by the gripping of the gripping unit. The information processing device according to (3) above. (5) The finger portion is an elastic body that comes into contact with the object when the object is grasped; a pressure distribution sensor that detects the distribution of pressure applied to the elastic body; and The slippage detection unit detects an initial slippage in which a fixed portion and a slippage portion are mixed between the object and the elastic body based on the detection result of the pressure distribution sensor. The information processing device according to any one of (1) to (4). (6) The estimation unit estimates the direction and amount of each of the external force and external moment applied to the object based on the direction and amount of the initial slip. The information processing device according to (5) above. (7) The slippage detection unit detects the initial slippage based on a movement of the center of pressure position. The information processing device according to (6) above. (8) an initial slip direction calculation unit that calculates the direction of the initial slip based on the movement direction of the pressure center position; an initial slippage amount calculation unit that calculates the amount of initial slippage based on the amount of movement of the pressure center position; The information processing device according to (7) above, further comprising: (9) The slippage detection unit detects slippage that occurs in the object due to a resistance force received from a placement surface when the object is placed. The information processing device according to any one of (1) to (8). (10) The slippage detection unit detects the initial slippage based on a deviation in each position of the elastic body detected by an optical sensor, or based on the magnitude of the force applied to the elastic body detected by a force sensor. The information processing device according to any one of (5) to (9). (11) The gripping portion is provided with a plurality of the finger portions, The slippage detection unit detects the initial slippage of each of the fingers based on the detection result of the pressure distribution sensor. The information processing device according to any one of (5) to (10). (12) a calculation unit that calculates an inclination of the finger portion gripping the object based on a direction of the initial slip and the force detected by the pressure distribution sensor of each of the finger portions, The arm control unit controls the operation of the arm unit based on the calculated tilt. The information processing device according to (11) above. (13) The calculation unit calculates the tilt of the finger unit based on posture information representing the amount of movement of a movable part of each of the finger units. The information processing device according to (12) above. (14) The information processing device detecting slippage of an object being grasped by the fingers constituting the grasping unit; Estimating an external force and an external moment applied to the object based on the slippage that has occurred in the object; The operation of the arm unit is controlled based on the estimated external force and external moment, and at least one of the position and the orientation of the finger unit constituting the gripping unit provided on the arm unit is adjusted. Information processing methods. (15) On the computer, detecting slippage of an object being grasped by the fingers constituting the grasping unit; Estimating an external force and an external moment applied to the object based on the slippage that has occurred in the object; The operation of the arm unit is controlled based on the estimated external force and external moment, and at least one of the position and the orientation of the finger unit constituting the gripping unit provided on the arm unit is adjusted. A program for executing a process. [Explanation of symbols]

[0171] 1 Hand unit, 2L, 2R Arm unit, 11 Base unit, 12A, 12B Finger unit, 23A, 23B Contact unit, 24A, 24B Tactile sensor, 31A, 31B Fingertip unit, 41 Robot, 201 Information processing device, 202 Sensor unit, 211 Recognition and planning unit, 212 Calculation unit, 213 Control unit, 221 Recognition unit, 222 Command unit, 223 Layout position determination unit, 224 Motion planning unit, 231 Initial slip detection unit, 232 Initial slip direction calculation unit, 233 Initial slip amount calculation unit, 234 Hand position and orientation calculation unit, 235 Grasping force calculation unit, 241 Arm control unit, 242 Hand control unit, 251 Hand orientation rotation axis calculation unit, 261A Left finger processing unit, 261B right finger processing unit, 262 calculation unit, 271A, 271B initial slip detection unit, 272A, 272B initial slip direction calculation unit, 273A, 273B pressure sum calculation unit, 281 posture information acquisition unit

Claims

1. a slippage detection unit that detects slippage that occurs in an object that is being gripped by two fingers that make up the gripping unit, based on the output of a plurality of contact parts that are arranged on the inner surfaces of the fingers, the slippage detection unit comprising an elastic body that comes into contact with the object when the object is gripped and a pressure distribution sensor that detects the distribution of pressure applied to the elastic body; an estimation unit that estimates an external force applied to the object based on a change in a center position of the pressure distribution detected at each of the contact portions as a slippage occurring on the object, and that estimates an external moment applied to the object based on a change in a rotational direction of the center position of the pressure distribution detected at each of the contact portions; a gripping force control unit that controls the gripping force of the gripping unit based on the magnitudes of the estimated external force and external moment; an arm control unit that controls the operation of the arm unit based on the magnitudes and directions of the estimated external force and external moment, and adjusts at least one of the position and the orientation of the finger units that constitute the gripping unit provided on the arm unit; An information processing device comprising:

2. The arm control unit controls the arm unit so that a balance is maintained between the estimated external force and a force generated on the object by the operation of the arm unit, and a balance is maintained between the estimated external moment and a moment generated on the object by the operation of the arm unit. The information processing device according to claim 1 .

3. The gripping force control unit controls the gripping force so that a balance is maintained between the estimated external force and the force generated on the object by the gripping of the gripping unit, and a balance is maintained between the estimated external moment and the moment generated on the object by the gripping of the gripping unit. The information processing device according to claim 1 .

4. The finger portion is the elastic body that comes into contact with the object when the object is grasped; the pressure distribution sensor that detects the distribution of pressure applied to the elastic body; and The slippage detection unit detects an initial slippage in which a fixed portion and a slippage portion are mixed between the object and the elastic body based on the detection result of the pressure distribution sensor. The information processing device according to claim 1 .

5. The estimation unit estimates the direction and amount of each of the external force and external moment applied to the object based on the direction and amount of the initial slip. The information processing device according to claim 4 .

6. The slippage detection unit detects the initial slippage based on a movement of the center of pressure position. The information processing device according to claim 5 .

7. an initial slip direction calculation unit that calculates the direction of the initial slip based on the movement direction of the pressure center position; an initial slippage amount calculation unit that calculates the amount of initial slippage based on the amount of movement of the pressure center position; The information processing device according to claim 6 , further comprising:

8. The slippage detection unit detects slippage that occurs in the object due to a resistance force received from a placement surface when the object is placed. The information processing device according to claim 1 .

9. The slippage detection unit detects the initial slippage based on a deviation in each position of the elastic body detected by an optical sensor, or based on the magnitude of the force applied to the elastic body detected by a force sensor. The information processing device according to claim 4 .

10. The gripping portion is provided with a plurality of the finger portions, The slippage detection unit detects the initial slippage of each of the fingers based on the detection result of the pressure distribution sensor. The information processing device according to claim 4 .

11. a calculation unit that calculates an inclination of the finger portion gripping the object based on a direction of the initial slip and the force detected by the pressure distribution sensor of each of the finger portions, The arm control unit controls the operation of the arm unit based on the calculated tilt. The information processing device according to claim 10.

12. The calculation unit calculates the tilt of the finger unit based on posture information representing the amount of movement of a movable part of each of the finger units. The information processing device according to claim 11.

13. The information processing device a pressure distribution sensor that detects the distribution of pressure applied to the elastic body and that is configured to detect slippage of an object that is being gripped by two fingers that constitute a gripping section, based on the output of a plurality of contact sections that are arranged on the inner surface of each of the fingers; an external force applied to the object is estimated based on a change in a center position of the pressure distribution detected at each of the contact portions as a slippage occurring on the object, and an external moment applied to the object is estimated based on a change in a rotational direction of the center position of the pressure distribution detected at each of the contact portions; controlling the gripping force of the gripping unit based on the magnitudes of the estimated external force and external moment; The operation of the arm unit is controlled based on the magnitude and direction of the estimated external force and external moment, and at least one of the position and the orientation of the finger unit constituting the gripping unit provided on the arm unit is adjusted. Information processing methods.

14. On the computer, a pressure distribution sensor that detects the distribution of pressure applied to the elastic body and that is configured to detect slippage of an object that is being gripped by two fingers that constitute a gripping section, based on the output of a plurality of contact sections that are arranged on the inner surface of each of the fingers; an external force applied to the object is estimated based on a change in a center position of the pressure distribution detected at each of the contact portions as a slippage occurring on the object, and an external moment applied to the object is estimated based on a change in a rotational direction of the center position of the pressure distribution detected at each of the contact portions; controlling the gripping force of the gripping unit based on the magnitudes of the estimated external force and external moment; The operation of the arm unit is controlled based on the magnitude and direction of the estimated external force and external moment, and at least one of the position and the orientation of the finger unit constituting the gripping unit provided on the arm unit is adjusted. A program for executing a process.

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