US 12,226,908 B2
Control device, control method, and program
Tetsuya Narita, Tokyo (JP); and Satoko Nagakari, Chiba (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/614,446
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed May 22, 2020, PCT No. PCT/JP2020/020245
§ 371(c)(1), (2) Date Nov. 26, 2021,
PCT Pub. No. WO2020/246263, PCT Pub. Date Dec. 10, 2020.
Claims priority of application No. 2019-104966 (JP), filed on Jun. 5, 2019.
Prior Publication US 2022/0234200 A1, Jul. 28, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1612 (2013.01); B25J 13/083 (2013.01); B25J 13/085 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A control device comprising:
a supporting force control unit configured to control a supporting force by driving one or more actuators of a gripping device to provide the supporting force for supporting an object via a plurality of contact portions of a contact surface of the gripping device, the supporting force being controlled based on
information regarding a respective shape of each respective contact portion of the contact surface where the supporting force is transmitted from the one or more actuators to the object through contact with the object, and
information regarding a respective shear force detected between each respective contact portion and the object at a plurality of positions of the respective contact portion,
wherein the information regarding the respective shear force is detected in relation to a center of a pressure detected for each respective contact portion,
wherein the supporting force control unit controls the supporting force based on a sticking ratio between a partial region where static friction is generated on the contact surface and a partial region where dynamic friction is generated on the contact surface, and
wherein the supporting force control unit is implemented via at least one processor.