ROBOT HAND, ROBOT HAND CONTROL METHOD, AND CONTROL PROGRAM FOR ROBOT HAND

To provide a robot hand that can grip a soft object and a small object whose shape vary, with high accuracy.SOLUTION: The robot hand according to the embodiment adjusts posture angles of finger tip parts of fingers so that lowest points of the finger parts can be included in detectable ranges of first tactile sensors, in an initial posture; controls contact force of the finger tip parts of the fingers against an environment face to a predetermined value on the basis of output of the first tactile sensors of the fingers, in operation by which the robot hand is moved down to approach the environment face; moves at least one finger of the fingers, on the environment face, in a direction in which a distance between the opposing fingers is narrowed, in operation by which the robot hand is made to approach an object to be gripped; when moving the finger, controls contact force against the environment face of the finger tip part of the moved finger to the predetermined value; and when output of a second tactile sensor of the at least one finger of the fingers becomes above a threshold, controls the fingers so that the object to be gripped is moved to a target position.SELECTED DRAWING: Figure 3 【課題】形状の変化するやわらかい物や小さい物を高精度に把持することが可能なロボットハンドを提供すること。【解決手段】本実施の形態に係るロボットハンドは、初期姿勢において、各指の指先部の最下点が第１の触覚センサの検出可能領域に含まれるように指先部の姿勢角を調整し、ロボットハンドを下降させて環境面にアプローチする動作において、各指の第１の触覚センサの出力に基づいて、各指の指先部の環境面に対する接触力が所定値となるように制御し、把持対象物にアプローチする動作において、対向する指同士の距離を狭める方向に各指の少なくとも１本の指を前記環境面上で移動させ、移動の際に、移動させる指の指先部の環境面に対する接触力が所定値となるように制御し、各指の少なくとも１本の指の第２の触覚センサの出力が閾値以上となった場合に、把持対象物を目標位置に移動させるように制御する。【選択図】図３