The present disclosure generally relates to a robotic gripper comprising: a body; a plurality of displacement mechanisms; a plurality of finger modules removably connected or connectable to the body, such that each finger module engages with a respective displacement mechanism; each finger module comprising a finger actuator cooperative with the other finger actuators for gripping an object; and each displacement mechanism is configured for moving the respective finger module to adjust its arrangement on the body, thereby configuring the robotic gripper for gripping the object.

A robot capable of performing precise work is provided.

The robot includes an actuator unit and an end effector provided at a tip of the actuator unit.

The end effector includes a first sensor capable of detecting a pressure distribution in a contact region coming into contact with a workpiece, and a second sensor capable of detecting position information of the contact region.

A hand control apparatus including an extracting unit extracting a grip pattern of an object having a shape closest to that of the object acquired by a shape acquiring unit from a storage unit storing and associating shapes of plural types of objects and grip patterns, a position and posture calculating unit calculating a gripping position and posture of the hand in accordance with the extracted grip pattern, a hand driving unit causing the hand to grip the object based on the calculated gripping position and posture, a determining unit determining if a gripped state of the object is appropriate based on information acquired by at least one of the shape acquiring unit, a force sensor and a tactile sensor, and a gripped state correcting unit correcting at least one of the gripping position and the posture when it is determined that the gripped state of the object is inappropriate.

According to one embodiment, a transporter includes a holder, a moving mechanism, a sensor, an operation controller, and a parameter estimator. The holder is configured to hold an object. The moving mechanism is configured to move the holder. The sensor is provided at the holder or the moving mechanism. The operation controller is configured to execute a test operation of moving the holder in a state in which the object is held by the holder. The parameter estimator is configured to estimate at least one parameter relating to the object based on a result of detection acquired by the sensor during the test operation.

A method for controlling grasping of an object by a gripper provides for computing a reference position of a grasped object with respect to a reference system integral with the gripper, and monitoring a position of the grasped object. If a displacement of the grasped object with respect to the reference position is detected, the method provides for commanding the gripper to increase grasping force.

A robot capable of performing precise work is provided.

The robot includes an actuator unit and an end effector provided at a tip of the actuator unit.

The end effector includes a first sensor capable of detecting a pressure distribution in a contact region coming into contact with a workpiece, and a second sensor capable of detecting position information of the contact region.

A robot system includes a robot, and an information processing portion. The information processing portion is configured to obtain a learned model by learning first force information about a force applied by a worker to a workpiece, first position information about a position of a first portion of the worker, and first workpiece information about a state of the workpiece, and control the robot on a basis of output data of the learned model.

Some implementations are directed to methods and apparatus for determining, based on sensor data generated during physical manipulation of a robot by a user, one or more grasp parameters to associate with an object model. Some implementations are directed to methods and apparatus for determining control commands to provide to actuator(s) of a robot to attempt a grasp of an object, where those control commands are determined based on grasp parameters associated with an object model that conforms to the object. The grasp parameter(s) associated with an object model may include end effector pose(s) that each define a pose of a grasping end effector relative to the object model and/or translational force measure(s) that each indicate force applied to an object by a grasping end effector, where the force is at least partially the result of translation of an entirety of the grasping end effector.

A gripper which has a friction estimation module configured to estimate static and/or dynamic friction forces acting on gripping jaws is provided. The static friction force is calculated on the basis of constraining reactions whereto the gripping jaws are subjected, the constraining reactions being calculated at least as a function of an actuation force exerted on the gripping jaws, a coefficient of friction of gripper materials and/or lubricant used being known. The dynamic friction force is calculated on the basis of speed of the gripping jaws, width of sliding surfaces and distance between the sliding surfaces of the gripping jaws, the viscosity of the lubricant used being known.

This disclosure concerns ascertaining a force applied to a finger element of a gripper assembly of a robotic manipulator during the manipulation of an object. In one aspect, it discloses a gripper assembly including a finger element, an actuator, a linkage assembly including a plurality of arms connecting the finger element to the actuator, and a sensor assembly configured to output signals indicative of force components applied to the plurality of arms as a result of a force being applied to the finger element.