| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system for controlling a robot hand that is compatible with contact objects different in hardness by a simple configuration. <P>SOLUTION: The system for controlling a robot hand includes: an in-contact joint state estimator 131 for estimating a joint state when a finger comes into contact with the contact object; a not in-contact joint state estimator 132 for estimating a joint state when the finger does not come into contact with the contact object; a contact determiner 133 for determining whether the finger comes into contact with the contact object; a torque disturbance estimator 134 for estimating a torque disturbance applied to a joint; a rigidity estimator 135 for estimating the rigidity of the contact object; a control rigidity computing unit 137 for computing a minimum value of a control rigidity of the joint so that the finger can maintain a pressed state of the contact object thereby, when the result of the determination of contact is a contact state; and a control unit 138 for controlling a joint motor 121. <P>COPYRIGHT: (C)2012,JPO&INPIT |
