Patent ID: 8538583
Filing Date: 2013-09-17
Classification: B25J,G05B

Abstract:
1. A control method of a robot, the robot having hands to grip an article and robot arms respectively connected to the robot hands to one of transfer the article to an external subject and take the article from the external subject, comprising: sensing, by a processor, magnitude and direction of external force applied to the robot hands; gripping the article with the robot hands upon judging that the external subject intends to transfer the article to the robot hands; pulling the article toward the robot by the robot hands by a first designated distance as a signal informing the external subject of stable gripping the article, upon judging that the robot hands stably grip the article; and controlling a gripping force of the robot hands while determining the intention of the external subject based on magnitude and direction of the external force applied to the robot hands, after the pulling of the article by the robot hands toward the robot by the first designated distance.