Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.

A robot includes a hand that grips an object and a control unit that operates the hand, the hand includes fingers that are able to grip the object at four or more contact points, and an object of which a metallic tone index is equal to or higher than 5 is gripped with the hand.

A robot includes: an arm; a hand including a first finger and a second finger, wherein the first finger includes a first sensor and the second finger includes a second sensor; and a processor configured to: based on sensing an object through the first sensor while the robot is moving to grip the object, activate the second sensor, receive, from the first sensor and the second sensor, distance information including a plurality of pairs of distance values, wherein each respective pair of distance values of the plurality of pairs of distance values includes a first distance between the first sensor and the object and a second distance between the second sensor and the object, and each respective pair of distance values corresponds to a respective position of the hand relative to the object, and control the first finger and the second finger to grip the object based on the distance information.

A robot and a method of controlling same is provided, the robot including: first and second fingers, where finger comprises: a contact part; a light emitter configured to radiate light toward the contact part; a camera configured to capture an image of the respective contact part; and a polarization filter between the light emitter and the contact part, wherein the polarization filters are configured to pass light polarized in a first or second direction based on a voltage applied, and wherein the first and second directions are perpendicular to one another; a driver configured to move the first finger and the second finger; and at least one processor connected with the components of the first and second fingers and the driver, wherein the at least one processor is configured to: obtain images via the first and second cameras by controlling an activation state of at least one of the light emitters and the polarization filters, and based on identifying the presence of an object positioned between the contact parts, cause the fingers to grip the object and to maintain within a pre-set range a difference between first and second distances.

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.

A pose controller is provided for controlling a pose of an object to assemble with a mating object by a gripper of a robot arm. The pose controller includes an interface configured to receive tactile signals from the tactile sensors and transmit a control signal to the actuators, a processor, and a memory, in association with the processor, configured to store a precomputed set of tactile depth images and instructions of computer-implemented method. The instructions cause the processor to perform steps of computing measured tactile depth images from the received tactile signals, refining the pose of the object by matching between the precomputed set of tactile depth images and the measured tactile depth images by a point-to-plane iterative closest point (ICP) algorithm, generating a gripper trajectory command based on the refined pose of the object and a target pose of the object, wherein the target pose is aligned against the mating object with a nominal distance above the mating object, and controlling the actuators of the robot arm according to a gripper trajectory by transmitting the gripper trajectory command to the robot controller.