| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a robot device capable of easily performing the control of a pressing force by a multi-point contact by enabling the operation of the hand part due to the multi-point contact. <P>SOLUTION: In a manipulator 10 having an arm part 20, the hand part 30 and an arm control part 200, the hand part 30 includes a palm part 40, a finger part 50, a tactile sensor 42 for detecting the pressing force of the palm part 40, a tactile sensor 53 for detecting the pressing force of the finger part 50, and a force sense sensor 51 for detecting the position and attitude of the finger part 50 relative to the palm part 40. The arm control part 200 sets the control target of the arm part 20 according to the pressing force of the palm part 40, the pressing force of the finger part 50, and the position and attitude of the finger part 50 relative to the palm part 40. Consequently, the arm part 20 is controlled by the feedback of various types of information on the hand part 30, the hand part can be operated due to the multi-point contact, and the control of the pressing force due to the multi-point contact can be easily performed. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
