ROBOT HAND FOR GRASPING OBJECT BY USING VISUAL INFORMATION AND TACTUAL INFORMATION AND CONTROL METHOD THEREOF

摘要

The present invention relates to a robot hand and a control method thereof, and to a robot hand and a control method capable of precisely handling an object using a visual and tactile sensor. A robot hand, which is an aspect of the present invention, includes a camera that acquires an image of at least one first object; A control unit for determining at least one factor of a position coordinate, a size, and a center of the first object using the acquired image; A hand gripping the first object using the determined factor; And a tactile sensor for sensing at least one tactile factor of normal force, shear force and conductivity of the first object when the hand contacts the first object for the gripping. Including, If the hand fails to grip the first object, the control unit re-determining at least one factor of the position coordinates, size and center of the first object based on the failure event, the hand The first object may be gripped again using the determined factor and at least one tactile factor sensed by the tactile sensor.