Control device, control method, and program
A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
1. A control device comprising:
a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force; and
an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and for detecting whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
2. The control device according to claim 1 , further comprising a position detector configured to detect a position of the fingertips,
wherein the object detector further detects whether or not a non-thin-film object thicker than the thin-film object is grasped between the fingertips on the basis of the detection result of the position detecting means,
wherein if the detection result indicates that the non-thin-film object is grasped between the fingertips, the object detector prohibits the detection of whether or not the thin-film object is grasped between the fingertips, and
wherein if the detection result indicates that the non-thin-film object is not grasped between the fingertips, the object detector commences the detection of whether or not the thin-film object is grasped between the fingertips.
3. The control device according to claim 1 , wherein the object detector compares a threshold value preliminarily determined from the maximum stationary friction coefficient between the fingertips with the friction coefficient and detects whether or not the thin-film object is grasped between the fingertips on the basis of the comparison result.
4. A control method comprising the steps of:
detecting, using a force detector, a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force; and
calculating, using an object detector, a friction coefficient using the detected normal force and the detected shearing force and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
5. A non-transitory, computer-readable medium comprising instructions for executing a control process that includes the steps of:
causing a computer to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force; and
causing the computer to calculate a friction coefficient using the detected normal force and the detected shearing force and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.