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公开(公告)号：US20220176556A1
公开(公告)日：2022-06-09
申请号：US17670977
申请日：2022-02-14
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Joonmo Ahn , Boseok Moon , Dongwoo Park , Rakjoon Chung , Sunpyo Hong
Abstract: A manipulator is provided. The manipulator includes a gripper, a depth sensor, a force sensor configured to sense an external force acting on the gripper; a memory storing instructions; and a processor configured to execute the instructions to: control the gripper to grasp an object, acquire first information on the object based on a first sensing value obtained by the force sensor while grasping the object, control the gripper such that a first area of the object comes into contact with a surface on which the object is to be placed, acquire location information on a contact area between the first area and the surface, acquire a rotation direction to rotate the object based on the location information and the first information on the object, control the gripper to rotate the object in the rotation direction around the contact area, and based on a second area of the object being in contact with the surface, control the gripper to release the object.
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公开(公告)号：US12186904B2
公开(公告)日：2025-01-07
申请号：US17670977
申请日：2022-02-14
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Joonmo Ahn , Boseok Moon , Dongwoo Park , Rakjoon Chung , Sunpyo Hong
Abstract: A manipulator is provided. The manipulator includes a gripper, a depth sensor, a force sensor configured to sense an external force acting on the gripper; a memory storing instructions; and a processor configured to execute the instructions to: control the gripper to grasp an object, acquire first information on the object based on a first sensing value obtained by the force sensor while grasping the object, control the gripper such that a first area of the object comes into contact with a surface on which the object is to be placed, acquire location information on a contact area between the first area and the surface, acquire a rotation direction to rotate the object based on the location information and the first information on the object, control the gripper to rotate the object in the rotation direction around the contact area, and based on a second area of the object being in contact with the surface, control the gripper to release the object.
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