Robot system for carrying an item with receiving / passing motion deciding means based on external force detection

摘要

The present invention aims to provide an item-carrying system in which a robot (R) can perform an item-receiving motion without giving the human a sense of discomfort when receiving it from the human. The item-carrying system comprises: a robot (R) comprising: a gripping portion (71) for gripping an item and can open/close; external force detecting means (62) for detecting an external force (Fx) applied to the gripping portion (71); opening-degree detecting means for detecting an opening-degree of the gripping portion (71); and autonomous movement means; and receiving/passing motion deciding means (240) for deciding a motion of the robot (R) in an item receiving/passing operation, the system receiving/passing the item with the gripping portion, wherein the receiving/passing motion deciding means (240) comprises: means for determining to start receiving an item (243) that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force (Fx) not less than a first predetermined value (Fx1), when the gripping portion (71) is not gripping an item; and means (244) for determining the completion of a receiving motion that determines the completion of an item-receiving motion on the basis of at least one of an external force (Fx) detected by the external force detecting means (62) and an opening degree detected by the opening-degree detecting means, during the receiving motion.