| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a technology capable of holding an object of an arbitrary shape by a natural operation of a person by using a robot hand having a plurality of fingers capable of changing the posture when turning a joint. <P>SOLUTION: A device is a device for holding an object by using a robot hand having a plurality of fingers capable of changing the posture when turning a joint. The device comprises a means for acquiring shape information on the object, a means for selecting fingers used for holding the object from shape information on the object, a means for calculating the position of a holding point on the object of the fingers to be used for holding the object from shape information on the object, a means for calculating the target joint angle of each joint, and a means for turning each joint according to the calculated target joint angle. In the device, the means for calculating the target joint angle calculates the target joint angle from the position of the holding point for the fingers used for holding the object; and sets the target joint angle for realizing the finger-gripping posture for the fingers not used for holding the object. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
