Robot Grip Force Control Using Slip Feedback for Object Transfer
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Solution Overview
Problem
Conventional techniques for reducing gripping force in robot hands during object transfer have not been adequately developed, making it difficult to achieve natural interaction between humans and robots.
Innovation Solution
A control device with a slip detection unit that estimates external forces applied to a gripped object based on detected slips, and a control unit that adjusts the gripping force accordingly to facilitate smooth object transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the gripping force is increased to ensure secure object holding, then the reliability of object holding is improved, but the ease of object transfer to human decreases
Solution Approach 1:
The gripping force is made dynamically adjustable based on real-time slip detection. The control unit continuously monitors slip conditions and adjusts the gripping force accordingly - increasing it when slip is detected and decreasing it when stable grip is achieved, enabling natural interaction during object transfer
Solution Approach 2:
A feedback mechanism is implemented where the slip detection unit provides real-time information about grip stability to the control unit. This feedback loop allows the system to automatically adjust gripping force based on actual contact conditions, resolving the contradiction between maintaining secure grip and enabling smooth transfer
2Ease of operation
If the gripping force is decreased to facilitate object release, then the ease of object transfer is improved, but the reliability of object holding deteriorates
Solution Approach 1:
The gripping force transitions from static to dynamic control, allowing the system to adapt between holding and releasing states. The control unit adjusts the force level based on slip detection, automatically finding the optimal balance between secure holding and easy release
Solution Approach 2:
The slip detection feedback enables the system to know when the object is securely held and when it is time to reduce gripping force for transfer. This real-time information allows the control unit to make intelligent decisions about when to decrease force, resolving the contradiction between maintaining hold reliability and enabling transfer ease
3Device complexity
If conventional gripping force control is used without slip detection, then the device complexity is reduced, but the natural interaction capability deteriorates
Solution Approach 1:
The system uses slip detection to automatically determine when to adjust gripping force without requiring external control signals or complex programming. The slip condition itself serves as the control input, allowing the system to self-regulate and achieve natural interaction with minimal additional complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables natural and robust interaction between humans and robots by accurately controlling gripping forces during object transfer, enhancing the reliability and safety of the interaction.
Implementation Method 1
a slip detection unit that detects a slip of a target object gripped by a grip portion
Data Source
AI summary
Provided are a control device, a control method, and a control program capable of realizing natural interaction between a human and a robot like between humans. A control device according to an embodiment includes a slip detection unit (15, 104) and a control unit (10). The slip detection unit detects a slip of a target object gripped by a grip portion. The control unit controls a gripping force with which the grip portion grips the target object based on the slip detected by the slip detection unit. The control unit estimates an external force applied to the target object gripped by the grip portion based on the slip detected by the slip detection unit, and controls the gripping force based on the estimated external force.