US 12,109,684 B2
Controller, control method, and program
Satoko Nagakari, Chiba (JP); Tetsuya Narita, Hokkaido (JP); Kazuhito Wakana, Tokyo (JP); Kazuo Hongo, Chiba (JP); Wataru Kokubo, Tokyo (JP); and Yoshinao Sodeyama, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 17/053,207
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Jun. 6, 2019, PCT No. PCT/JP2019/022597
§ 371(c)(1), (2) Date Nov. 5, 2020,
PCT Pub. No. WO2019/244661, PCT Pub. Date Dec. 26, 2019.
Claims priority of application No. 2018-118928 (JP), filed on Jun. 22, 2018.
Prior Publication US 2021/0129347 A1, May 6, 2021
Int. Cl. B25J 13/08 (2006.01); B25J 15/08 (2006.01)
CPC B25J 13/085 (2013.01) [B25J 15/08 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A controller comprising:
circuitry configured to detect, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip in which the object is slipping on each of the plurality of regions,
acquire a rigidity of the object, and
control a gripping force in gripping the object by using the plurality of regions,
wherein the circuitry controls the gripping force based on the rigidity of the object, and
wherein the circuitry is further configured to lower an increase rate when increasing the gripping force, as the rigidity of the object is lower.