In a tactile sensing system, a sensor portion of a tactile sensor is provided at a grasping portion of a robot, and outputs plural signals respectively corresponding to plural first electrodes that face a second electrode. On the basis of all or some of the plural signals, an output section calculates respective pressure values of plural pressure detecting positions within a contacting surface of the sensor portion which contacting surface contacts a workpiece, and outputs data of a pressure distribution. Further, on the basis of all or some of the plural signals, the output section calculates one aggregate shearing force value for the entire contacting surface, and outputs data of the aggregate shearing force value.

A method for object grasping, including: determining features of a scene; determining candidate grasp locations; determining a set of candidate grasp proposals for the candidate grasp locations; optionally modifying a candidate grasp proposal of the set; determining grasp scores associated with the candidate grasp proposals; selecting a set of final grasp proposals based on the grasp scores; and executing a grasp proposal from the set of final grasp proposals.

Embodiments are generally directed to generating a training dataset of labelled examples of sensor images and grasp configurations using a set of three-dimensional (3D) models of objects, one or more analytic mechanical representations of either or both of grasp forces and grasp torques, and statistical sampling to model uncertainty in either or both sensing and control. Embodiments can also include using the training dataset to train a function approximator that takes as input a sensor image and returns data that is used to select grasp configurations for a robot grasping or targeting mechanism.

Provided are a control device, a control method, and a control program capable of realizing natural interaction between a human and a robot like between humans. A control device according to an embodiment includes a slip detection unit (15, 104) and a control unit (10). The slip detection unit detects a slip of a target object gripped by a grip portion. The control unit controls a gripping force with which the grip portion grips the target object based on the slip detected by the slip detection unit. The control unit estimates an external force applied to the target object gripped by the grip portion based on the slip detected by the slip detection unit, and controls the gripping force based on the estimated external force.

A workpiece transport robot configured to determine whether a workpiece gripping failure has occurred, the workpiece transport robot including a transport robot main body having a driving mechanism configured to move a held workpiece; a robot hand having a first chuck and a second chuck configured to grip workpieces on both front and back faces of the robot hand; a robot hand rotating mechanism configured to axially support the robot hand and position the robot hand in a rotational direction with a servomotor, the robot hand supported with the transport robot main body via a rotation shaft to which first chuck and second chuck are symmetrically positioned, and a control device configured to compare measurement state information of the robot hand, of which information being based on torque information obtained by measuring and driving the servomotor; with workpiece gripping information obtained from a work program of the robot hand.

Force sensors capable of measuring only forces in xyz coordinate axis directions are installed in fingertips, respectively, and forces and moment forces acting on a robot hand are calculated based on positional information about each fingertip. This structure eliminates the need for using large force sensors to thereby enable downsizing of each fingertip, and enables detection of loads and moment forces acting on the robot hand.

Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform and actuator.

According to one embodiment, a handling device includes: a holding part that includes two or more supporting parts and is capable of holding an object by gripping the object with the two or more supporting parts; a calculation part configured to calculate a safety factor indicating safety of a state of the holding part holding the object; and a controller configured to cause the holding part to hold the object according to the safety factor.

A system and method is described for detecting abnormal contacts and misalignment of end effector of a robot arm during robotic arm operation. A contact shock transients sensing unit detects signals on the robot arm and generates alarms, identifies the location of the contact shock transients in the robot arm operation, and controls robot arm operation to prevent further damage to the robot arm and articles handled by the robot arm.

According to a production method, when a workpiece is grasped with a hand that includes two grasping pieces that grasp the workpiece by sandwiching the workpiece in a width direction between two surfaces orthogonal to a subject flat surface, and pressing surfaces that abut against a to-be-pressed surface of the workpiece opposite to the subject flat surface, the pressing surfaces are caused to abut against the to-be-pressed surface near a grasping position. The robot is operated on a basis of forces detected by a force sensor so that the robot assumes an orientation with which moments about axes that lie within the subject flat surface are balanced, and the workpiece is grasped with the two grasping pieces of the hand at a position where the moments are balanced. The robot is then operated to assume an orientation with which the subject flat surface aligns with the target flat surface.