| CPC B25J 9/1612 (2013.01) [B25J 9/1638 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 13/082 (2013.01)] | 17 Claims |
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1. A manipulator comprising:
a gripper;
a depth sensor;
a force sensor configured to sense an external force acting on the gripper;
a memory storing instructions; and
a processor configured to execute the instructions to:
control the gripper to grasp an object,
acquire first information on the object based on a first sensing value obtained by the force sensor while grasping the object,
control the gripper such that a first area of the object comes into contact with a surface on which the object is to be placed,
acquire location information on a contact area between the first area of the object and the surface that the object contacts,
acquire a torque with the contact area as a rotation center based on a vector from the contact area between the first area of the object and the surface that the object contacts and a line of action of gravity acting on the object;
acquire a rotation direction to rotate the object based on the acquired torque,
control the gripper to rotate the object in the rotation direction around the contact area, and
based on a second area of the object being in contact with the surface, control the gripper to release the object.
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