公开(公告)号：US09122275B2

公开(公告)日：2015-09-01

申请号：US13738409

申请日：2013-01-10

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Ji Young Kim ,  Kwang Kyu Lee ,  Young Do Kwon ,  Kyung Shik Roh

IPC: G05D3/00 ,  B25J9/00 ,  B25J9/16

CPC classification number: G05D3/00 ,  B25J9/00 ,  B25J9/16 ,  B25J9/1612 ,  G05B2219/39486 ,  G05B2219/40407 ,  Y10S901/14 ,  Y10S901/27

Abstract: A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.

Abstract translation: 提供了一种机器人及其控制方法。 所述机器人包括手和手臂，配置成能够使手感测物体的抓握传感器单元，配置成确定手抓住物体是否夹持从握持传感器单元获得的信息的抓握控制单元， 基于所述对象的运动或独立坐标来控制所述手和所述手臂，以根据所述确定的结果独立地控制所述手和所述手臂，并且基于所选择的坐标来控制所述手和所述手臂，以及 坐标变换单元，被配置为基于所述基于对象的坐标来计算虚拟对象的位置和方向，并且将关于所计算的所述虚拟对象的位置和方向的信息传递给所述握持控制单元。