Patent ID: 8498745
Filing Date: 2013-07-30
Classification: B25J,G05B

Abstract:
1. A robot apparatus comprising: a robot arm; a multi-fingered hand disposed at an end of the robot arm and including at least one fingertip force sensor for use in force control; an information acquiring unit that acquires at least location information on a target by an input from a user or by detection made by a detection unit; and a controller that moves the robot arm to cause the multi-fingered hand to approach the target on the basis of the at least location information on the target acquired by the information acquiring unit, detects a contact location at which actual contact is made between the at least one fingertip force sensor and the target on the basis of an output of the at least one fingertip force sensor of the multi-fingered hand, and modifies the location information on the target on the basis of information indicating the contact location, wherein when a difference between a location indicated by the location information on the target acquired by the information acquiring unit and the contact location is larger than a specific threshold, the controller modifies the location information on the target on the basis of the information indicating the contact location.