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Control device, control method, and program
专利权人:
Toshimitsu Tsuboi
发明人:
Toshimitsu Tsuboi,Takeo Kishida
申请号:
US12621205
公开号:
US08510063B2
申请日:
2009.11.18
申请国别(地区):
US
年份:
2013
代理人:
摘要:
A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
来源网站:
中国工程科技知识中心
来源网址:
http://www.ckcest.cn/home/

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