US 12,280,491 B2
Control device, control method, and control program
Satoko Nagakari, Chiba (JP); and Tetsuya Narita, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/624,656
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Jul. 10, 2020, PCT No. PCT/JP2020/027155
§ 371(c)(1), (2) Date Jan. 4, 2022,
PCT Pub. No. WO2021/015025, PCT Pub. Date Jan. 28, 2021.
Claims priority of application No. 2019-135684 (JP), filed on Jul. 23, 2019.
Prior Publication US 2022/0274262 A1, Sep. 1, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 15/08 (2006.01)
CPC B25J 13/083 (2013.01) [B25J 9/1612 (2013.01); B25J 13/084 (2013.01); B25J 15/08 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A control device comprising:
a slip detection unit configured to detect a slip of a target object gripped by a grip portion; and
a control unit configured to
control a gripping force with which the grip portion grips the target object based on the slip detected by the slip detection unit, and
estimate an external force applied to the target object gripped by the grip portion based on the slip detected by the slip detection unit,
wherein the control unit controls the gripping force based on the estimated external force
wherein the external force is estimated based on a transverse elastic coefficient and a longitudinal elastic coefficient of the grip portion, and
wherein the slip detection unit and the control unit are each implemented via at least one processor.