Robot Hand Contact Area Estimation for Stable Grasping Control
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Solution Overview
Problem
Existing robot control systems face instability in grasping objects of unknown shapes due to inconsistent contact areas between fingers, leading to unstable grasping control.
Innovation Solution
A control apparatus and method that utilize sensors linked to fingers to obtain force information, determining appropriate contact areas by analyzing the relationship between force data from multiple sensors to stabilize grasping, including a hand controller with a state estimator to switch between control loops for stable grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robot grasping control is performed without determining appropriate contact areas, then the grasping operation can be executed quickly, but the stability of grasping deteriorates due to inconsistent contact areas between fingers
Solution Approach 1:
The hand controller determines appropriate contact areas between fingers and object before executing the grasping operation. This preliminary determination of contact areas (Step S12) ensures that the grasping control is performed on a stable basis from the outset, preventing instability during the actual grasping process while maintaining efficient execution time.
Solution Approach 2:
The system uses force sensors to detect contact forces between fingers and object, and the hand controller analyzes this feedback information to determine whether contact areas are appropriate. This closed-loop feedback mechanism (Steps S13-S15) allows the system to adjust and verify contact areas, ensuring grasping stability while the automation of this process prevents excessive time consumption.
2Reliability
If contact areas are determined by analyzing force information from multiple sensors, then grasping control stability is improved, but the device complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The hand controller performs multiple functions: it controls finger movements, processes force sensor data, determines contact area appropriateness, and adjusts grasping control. By consolidating these functions into a single control unit, the system achieves stable grasping control through comprehensive analysis of force information without proportionally increasing overall system complexity.
Solution Approach 2:
The force sensors are integrated directly into the finger structures, allowing them to self-measure contact forces at the point of contact. The hand controller automatically analyzes this data and determines contact area appropriateness without requiring external intervention or complex additional processing systems, enabling the system to self-regulate for stable grasping.
Data Source
AI summary
A control apparatus includes a hand controller that controls a hand capable of grasping an object to be grasped and including a first finger and a second finger. The hand controller obtains, from at least one sensor linked to the first finger and the second finger, a plurality of pieces of force information indicating force acting on the first finger and the second finger from the object to be grasped. The hand controller determines, on a basis of a relationship between the plurality of pieces of force information, whether contact areas of the first finger and the second finger in contact with the object to be grasped are appropriate.