| CPC B25J 9/1697 (2013.01) [B25J 9/1664 (2013.01); B25J 15/08 (2013.01)] | 12 Claims |
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1. A robot comprising:
a hand comprising a first finger and a second finger, wherein the first finger comprises a first sensor and the second finger comprises a second sensor;
memory storing one or more instructions; and
at least one processor configured to execute the one or more instructions,
wherein the one or more instructions, when executed by the at least one processor, cause the robot to:
based on sensing an object through the first sensor while the robot is moving to grip the object, activate the second sensor,
receive, from the first sensor and the second sensor, distance information comprising a plurality of pairs of distance values, wherein each respective pair of distance values of the plurality of pairs of distance values comprises a first distance between the first sensor and the object and a second distance between the second sensor and the object, and each respective pair of distance values of the plurality of pairs of distance values corresponds to a respective position of the hand relative to the object,
for each respective pair of distance values of the plurality of pairs of distance values, determine a combined distance value by adding the first distance of the respective pair of distance values to the second distance of the respective pair of distance values, to obtain a plurality of combined distance values,
determine a minimum combined distance value among the plurality of combined distance values,
control the robot to move the hand to a position corresponding to the minimum combined distance value, and
control the first finger and the second finger to grip the object.
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