CN107081774A - Robot shakes hands control method and system - Google Patents
Robot shakes hands control method and system Download PDFInfo
- Publication number
- CN107081774A CN107081774A CN201710393261.8A CN201710393261A CN107081774A CN 107081774 A CN107081774 A CN 107081774A CN 201710393261 A CN201710393261 A CN 201710393261A CN 107081774 A CN107081774 A CN 107081774A
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- robot hand
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- grip
- pressure value
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the present invention provides a kind of robot and shaken hands control method and system, and this method includes：If detecting user triggers handshake operation to robot hand, the grip direction of the user is determined according to first pressure value and second pressure value, first pressure value and second pressure value represent the pressure that user applies up and down to robot hand respectively；Control machine human hand is moved to grip direction so that robot can simulate the dohandshake action of people, realize robot and the interaction effect that personalizes of shaking hands of user.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to a kind of robot shakes hands control method and system.
Background technology
In recent years, deepened continuously with the development and artificial intelligence study of robot technology, intelligent mobile robot is in people
Play the part of more and more important role in class life, be used widely in numerous areas.
It is on the increase with the demand of people, more the robot of hommization will can gradually turn into the favorite of robot circle.
It is desirable to robot can more hommization, be especially desirable to robot can be with more pressing close to " people " in the interacting of the mankind
Feature.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of robot and shaken hands control method and system so that robot has
The interaction effect that personalizes shaken hands with user, improves the interactive intelligence degree of robot.
The control method in a first aspect, a kind of robot of offer of the embodiment of the present invention shakes hands, including：
If detecting user triggers handshake operation to robot hand, according to the user to the robot
The first pressure value that portion applies upwards determines the grip direction of the user with the second pressure value being downwardly applied to；
The robot hand is controlled to be moved to the grip direction.
Alternatively, if described detect after user triggers the handshake operation to robot hand, in addition to：
Recognize the height of the user；
The movable distance and translational speed of the robot hand are determined according to the height of the user；
The control robot hand is moved to the grip direction, including：
According to the displacement scope and the translational speed, the robot hand is controlled to be moved to the grip direction
It is dynamic.
Second aspect, the embodiment of the present invention provides a kind of robot and shaken hands control system, including：
The robot hand moving up and down on robot body is arranged on, the drive of the robot hand movement is driven
Dynamic motor, and controller；
Touch sensor, first pressure sensor and second pressure sensor are provided with the robot hand；
The touch sensor, for detecting whether user triggers the handshake operation to the robot hand；
The first pressure sensor, for detecting the first pressure that the user applies upwards to the robot hand
Value；
The second pressure sensor, for detecting the second pressure that the user is downwardly applied to the robot hand
Value；
The controller, holds for detecting the user in the touch sensor robot hand being triggered
When hand is operated, grip direction is determined according to the first pressure value and the second pressure value, and by controlling the driving electricity
Machine is so that the robot hand is moved to the grip direction.
Robot provided in an embodiment of the present invention shakes hands control method and system, and robot has moveable hand, when
When detecting user and triggering the handshake operation to robot hand, robot hand is applied up and down according to user
First pressure value and second pressure value determine the grip direction of user, are moved, made to the grip direction with control machine human hand
The dohandshake action of people can be simulated by obtaining robot, realize robot and the interaction effect that personalizes of shaking hands of user.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that robot provided in an embodiment of the present invention shakes hands the flow chart of control method embodiment one；
Fig. 2 is that robot provided in an embodiment of the present invention shakes hands the flow chart of control method embodiment two；
Fig. 3 is that robot provided in an embodiment of the present invention shakes hands the structural representation of control system embodiment one；
Fig. 4 is that robot provided in an embodiment of the present invention shakes hands the structural representation of control system embodiment two.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclude and include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while there is A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, not departing from model of the embodiment of the present invention
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, similarly, and the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of key elements not only include those key elements, but also including without clear and definite
Other key elements listed, or also include for this commodity or the intrinsic key element of system.In the feelings of not more limitations
Under condition, the key element limited by sentence "including a ...", it is not excluded that in the commodity or system including the key element also
There is other identical element.
Further what deserves to be explained is, the order in various embodiments of the present invention between each step is adjustable, and is not
It must be performed according to the order of following citing.
Fig. 1 is that robot provided in an embodiment of the present invention shakes hands the flow chart of control method embodiment one, and the present embodiment is carried
The robot control method of shaking hands supplied can be implemented as software, or be embodied as the combination of software and hardware, such as the machine
People's control method of shaking hands can be performed by the controller combined by software and hardware, and the controller can be arranged on machine
Device people's fuselage interior.As shown in figure 1, this method comprises the following steps：
If step 101, detecting user and triggering handshake operation to robot hand, according to user to robot
The first pressure value that portion applies upwards determines the grip direction of user with the second pressure value being downwardly applied to.
Step 102, control machine human hand are moved to grip direction.
In the embodiment of the present invention, in order to allow the robot to realize with user personalize shake hands and interact, the machine
People is configured to have moveable hand, moving direction can include upwards, move down, it is, of course, also possible to the left, to the right
It is mobile.
The robot of embodiment of the present invention control method of shaking hands can be used for the following scene of shaking hands of simulation：When two people hold
During hand, the centre of the palm of two people is relative, and tiger's jaw position approximately coincide.Under the scene, can robot hand centre of the palm position it is attached
At least one touch sensor is closely set, for detecting whether user triggers the handshake operation to robot hand.When positioned at
When all or part of touch sensor near the position of the centre of the palm is triggered, it is believed that user triggers the behaviour that shakes hands to robot hand
Make.At this point it is possible to understand, it can be drawn in the finger of control machine human hand, to hold the hand of user.
Afterwards, due to when two people shake hands, often in the presence of both hands upwards, to the phenomenon of lower swing, for mould
Intend in this common situation of shaking hands, the present embodiment, pressure sensing can also be set in the opposite sides up and down of robot hand
Device, for detection user to the first pressure value of the upward application of robot hand and the second pressure value being downwardly applied to, with
Just the grip direction that user applies to robot hand is determined according to the first pressure value and second pressure value, so that control machine
Human hand is moved to the grip direction.
Alternatively, with reference to the scene of shaking hands of foregoing hypothesis, can be set in the inner side of the tiger's jaw position of robot hand to
A few first pressure sensor, to detect pressure of the user to the upward application of robot hand, and in the outside of tiger's jaw position
At least one second pressure sensor is set, to detect user to robot hand downward pressure applied.
Alternatively, when setting two or more first pressure sensors in the inner side of robot hand tiger's jaw position, use
The pressure value that family can be detected to the first pressure value of the upward application of robot hand according to each first pressure sensor plus
Weight average value is determined.Similarly it is applied to the determination of second pressure value.
Wherein, in the case of one kind is simple, weight coefficient can be 1；In another case, weight coefficient can be according to each
The advance difference setting of position distribution situation of pressure sensor, such as：In advance in the wider of the inner side and outer side of robot hand
Multiple pressure sensors are set in region, and pressure when a large amount of different testers of collection shake hands to robot hand applies position point
Cloth situation.So as to based on the test process, determine that the pressure of robot hand inner side and outer side applies the position that position is more concentrated
Region is put for target area, finally to set at least one pressure sensor in the target area.In addition, in test process
In, for the target area of inner or outer side, for the test pressure value that can be detected according to each pressure sensor
The size of number and average pressure value, determines the weight coefficient of each pressure sensor.Wherein, for some pressure sensor come
Say, test pressure value number is used to measure the pressure value that the pressure sensor is able to detect that how many testers, average pressure
It is worth for measuring for other pressure sensors, position significance level of the pressure sensor in interaction of shaking hands.
, can be according to first pressure value and second pressure value after above-mentioned first pressure value and second pressure value is obtained
Size comparative result determines the grip direction of user.Specifically, when first pressure value be more than second pressure value when, illustrate user to
Upper power is more than power downwards, and upwards, user wants to drive robot hand to move up in grip direction；On the contrary, working as
When first pressure value is less than second pressure value, illustrate that the power of user downwards is more than power upwards, grip direction is downward, user
Want to drive robot hand to move down.It is thus possible to which the moving direction based on the grip direction controlling robot hand, makes
Robot hand is obtained to follow the movement of user's hand and move.
Further optionally, in order to further improve man-machine interaction effect, triggered when detecting user to robot hand
Handshake operation when, such as interactive voice component for being also based on setting with robot sends interactive voice to user.
Such as, when the grip value that user is determined according to first pressure value and second pressure value is less than predetermined threshold value, control
Robot sends interactive voices such as " hello ", and when the grip value that user is determined according to first pressure value and second pressure value
During more than predetermined threshold value, control machine people sends alarm prompt voices such as " you, which hold, ache me ".
In the present embodiment, robot has moveable hand, and robot hand is held when detecting user and triggering
When hand is operated, the first pressure value and second pressure value applied up and down to robot hand according to user determines user's
Grip direction, is moved so that robot can simulate the dohandshake action of people with control machine human hand to the grip direction, is realized
Robot and the interaction effect that personalizes of shaking hands of user.
Fig. 2 is that robot provided in an embodiment of the present invention shakes hands the flow chart of control method embodiment two, as shown in Fig. 2
It may include steps of：
If step 201, detecting user and triggering handshake operation to robot hand, the height of user is recognized.
Step 202, the movable distance and translational speed for determining according to the height of user robot hand.
Height identifying device can be set in the correct position of robot fuselage, for recognizing current triggering handshake operation
The height of user.Alternatively, the height identifying device can include IMAQ with recognizer component, apart from detection components.Wherein,
IMAQ and recognizer component are used to obtain user images by shooting, by the way that user images are identified, computing, to obtain
The image height of user.Wherein, user images are identified, the process of computing can include in simple terms：Recognize user's figure
The coordinate of the user crown and sole as in, to obtain the image height of user.Apart from detection components can be used for detection user with
The distance of robot, such as can be implemented as laser, infrared detector.Finally, with reference to user and the distance of robot, user's
Used acquisition parameters can calculate the actual height for obtaining user when image height and IMAQ.
The translational speed of user's height ranges, the movable distance of robot hand and robot hand can be pre-set
Between corresponding relation, the movable distance and translational speed of the corresponding robot hand of different user height be often different.
Wherein, the movable distance can be maximum for robot hand is in certain reference position it is mobile away from
Can be due to user's height ranges from, the reference position it is different and different.The translational speed can be maximum translational speed.
So as to which after the height of active user is identified, based on the corresponding relation, inquiry obtains the height pair with the user
The movable distance and translational speed for the robot hand answered.
Step 203, according to user to the first pressure value of the upward application of robot hand and the second pressure being downwardly applied to
Value determines the grip direction of user.
Step 204, according to movable distance and translational speed, control machine human hand is moved to grip direction.
In the present embodiment, in the movable distance and translational speed that obtain robot hand and the grip direction of user
Afterwards, it can be moved according to the movable distance and translational speed, control machine human hand to grip direction.
Alternatively, the mobile control to robot hand can include：
If the actual displacement of robot hand and the difference of movable distance are less than predetermined threshold value, according to removable
Distance and translational speed, control machine human hand are moved to grip direction in opposite direction.
Specifically, during beginning, it can be moved with control machine human hand with certain translational speed to grip direction, when
When mobile actual displacement and the difference of movable distance are less than predetermined threshold value, illustrate now already close to or reach
The limitation of movable distance, so as to the upper limit using movable distance as reverse movement distance, with certain translational speed control
Robot hand processed is moved to grip direction in opposite direction.
Further optionally, the mobile control to robot hand can also include：
If occurring to hinder the event that is moved to grip direction of robot hand, control machine human hand to grip direction
Opposite direction movement or control machine human hand stop movement.
Such as, it is assumed that current positive control robot hand is moved down, a certain moment, if user does not follow robot
Hand is moved down, and is intended to move up, then can change moving direction with control machine human hand, then move up.
Now, user can trigger the event for hindering robot hand to move down by applying upward grip.
For another example, it is assumed that current positive control robot hand is moved down, and at a certain moment, is currently applied if detecting user
Plus grip value be more than predetermined threshold value, then it is assumed that occur to hinder the event that moves down of robot hand, now can be with control machine
Device human hand stops movement.
For another example, when detecting user and having unclamped robot hand, i.e., detect user in touch sensor and do not touching
When touching robot hand, it is believed that occur the event for hindering robot hand to move down, can now be stopped with control machine human hand
Only move.
In the present embodiment, when user's triggering carries out handshake operation with robot hand, based on the identification to user's height,
To determine the movable distance and translational speed of robot hand, to realize pin according to the movable distance and translational speed
The differentiation robot of different user is shaken hands control, improve Consumer's Experience.
Fig. 3 is that robot provided in an embodiment of the present invention shakes hands the structural representation of control system embodiment one, such as Fig. 3 institutes
Show, the system includes：
The robot hand moving up and down 1 on robot body is arranged on, the robot hand movement is driven
Motor 2, and controller 3.
Touch sensor 11, first pressure sensor 12 and second pressure sensor are provided with the robot hand 1
13。
The touch sensor 11, for detecting whether user triggers the handshake operation to the robot hand 1.
The first pressure sensor 12, for detecting the user applies upwards to the robot hand 1 first
Pressure value.
The second pressure sensor 13, for detecting the user is downwardly applied to the robot hand 1 second
Pressure value.
The controller 3, is triggered for detecting the user in the touch sensor 11 to the robot hand 1
During handshake operation, grip direction determined according to the first pressure value and the second pressure value, and by controlling the drive
Dynamic motor 2 is so that the robot hand 1 is moved to the grip direction.
Alternatively, the touch sensor 11 is arranged on the centre of the palm position of the robot hand, and the first pressure is passed
Sensor 12 is arranged on the inside of the tiger's jaw of the robot hand 1, and the second pressure sensor 13 is arranged on the robot
On the outside of the tiger's jaw in portion 1.
System shown in Figure 3 can perform the method for embodiment illustrated in fig. 1, and the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 1.In implementation procedure and the technique effect embodiment shown in Figure 1 of the technical scheme
Description, will not be repeated here.
Fig. 4 is that robot provided in an embodiment of the present invention shakes hands the structural representation of control system embodiment two, such as Fig. 4 institutes
Show, on the basis of embodiment illustrated in fig. 3, the system also includes：
The height identifying device 4 on the robot body is arranged on, the height for recognizing the user.
The controller 3 is additionally operable to：According to the height of the user determine the robot hand 1 movable distance and
Translational speed, and the motor 2 is controlled so that the robot according to the movable distance and the translational speed
Moved to the grip direction in portion 1.
Alternatively, the controller is used for：
If the difference of the actual displacement of the robot hand 1 and the movable distance is less than predetermined threshold value,
According to the movable distance and the translational speed, control the motor 2 so that the robot hand 1 to it is described
Grip direction movement in opposite direction.
Alternatively, the controller is additionally operable to：If occurring to hinder what the robot hand 1 was moved to the grip direction
Event, then control the motor 2 so that the robot hand to the grip it is in opposite direction direction movement or with
The robot hand 1 is set to stop movement.
System shown in Figure 4 can perform the method for embodiment illustrated in fig. 2, and the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 2.In implementation procedure and the technique effect embodiment shown in Figure 2 of the technical scheme
Description, will not be repeated here.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of general hardware platform necessary to add, naturally it is also possible to come real by way of hardware and software is combined
It is existing.Understood based on such, the part that above-mentioned technical proposal substantially contributes to prior art in other words can be with calculating
The form of machine product is embodied, and the present invention can be used in one or more meters for wherein including computer usable program code
The computer journey that calculation machine usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (trans itory media), such as data-signal and carrier wave of modulation.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
- The control method 1. a kind of robot shakes hands, it is characterised in that including：If detecting user triggers handshake operation to robot hand, according to the user to the robot hand to The first pressure value of upper application and the second pressure value being downwardly applied to determine the grip direction of the user；The robot hand is controlled to be moved to the grip direction.
- 2. according to the method described in claim 1, it is characterised in that detect user if described and trigger to robot hand After handshake operation, in addition to：Recognize the height of the user；The movable distance and translational speed of the robot hand are determined according to the height of the user；The control robot hand is moved to the grip direction, including：According to the movable distance and the translational speed, the robot hand is controlled to be moved to the grip direction.
- 3. method according to claim 2, it is characterised in that methods described also includes：If the difference of the actual displacement of the robot hand and the movable distance is less than predetermined threshold value, according to institute Movable distance and the translational speed are stated, controls the robot hand to be moved to grip direction in opposite direction.
- 4. according to the method in any one of claims 1 to 3, it is characterised in that methods described also includes：If occurring the event for hindering the robot hand to be moved to the grip direction, control the robot hand to Grip direction movement in opposite direction controls the robot hand to stop movement.
- 5. according to the method in any one of claims 1 to 3, it is characterised in that methods described also includes：Grip value is determined according to the first pressure value and the second pressure value；If the grip value is more than predetermined threshold value, alarm prompt is sent.
- The control system 6. a kind of robot shakes hands, it is characterised in that including：The robot hand moving up and down on robot body is arranged on, the driving electricity of the robot hand movement is driven Machine, and controller；Touch sensor, first pressure sensor and second pressure sensor are provided with the robot hand；The touch sensor, for detecting whether user triggers the handshake operation to the robot hand；The first pressure sensor, for detecting the first pressure value that the user applies upwards to the robot hand；The second pressure sensor, for detecting the second pressure value that the user is downwardly applied to the robot hand；The controller, the behaviour that shakes hands is triggered for detecting the user in the touch sensor to the robot hand When making, grip direction is determined according to the first pressure value and the second pressure value, and by control the motor with The robot hand is set to be moved to the grip direction.
- 7. system according to claim 6, it is characterised in that the touch sensor is arranged on the robot hand Centre of the palm position, the first pressure sensor is arranged on the inside of the tiger's jaw of the robot hand, the second pressure sensor On the outside of the tiger's jaw for being arranged on the robot hand.
- 8. system according to claim 6, it is characterised in that also include：The height identifying device on the robot body is arranged on, the height for recognizing the user；The controller is additionally operable to：The movable distance and mobile speed of the robot hand are determined according to the height of the user Degree, and the motor controlled according to the movable distance and the translational speed so that the robot hand is to described Move in grip direction.
- 9. system according to claim 8, it is characterised in that the controller is used for：If the difference of the actual displacement of the robot hand and the movable distance is less than predetermined threshold value, according to institute State movable distance and the translational speed, control the motor so that the robot hand to the grip direction Opposite direction movement.
- 10. the system according to any one of claim 6 to 9, it is characterised in that the controller is additionally operable to：If occurring The event for hindering the robot hand to be moved to the grip direction, then control the motor so that the robot Portion is to the direction movement in opposite direction with the grip or so that the robot hand stops moving.
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| CN201710393261.8A CN107081774B (en) | 2017-05-27 | 2017-05-27 | Robot shakes hands control method and system |
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| CN201710393261.8A CN107081774B (en) | 2017-05-27 | 2017-05-27 | Robot shakes hands control method and system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531565A (en) * | 2018-08-27 | 2019-03-29 | 苏州博众机器人有限公司 | A kind of control method of mechanical arm, device, service robot and storage medium |
| CN109968349A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot control method, device and terminal device |
| CN109968348A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot control method, device and terminal device |
| CN110850971A (en) * | 2019-10-25 | 2020-02-28 | 智亮君 | Handshake interaction method and system between hand model and intelligent mirror and storage medium |
| CN112140099A (en) * | 2019-06-28 | 2020-12-29 | 百度在线网络技术（北京）有限公司 | Light effect control method, device, equipment and medium for robot |
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| CN109968349B (en) * | 2017-12-28 | 2021-04-16 | 深圳市优必选科技有限公司 | Robot control method and device and terminal equipment |
| CN109531565A (en) * | 2018-08-27 | 2019-03-29 | 苏州博众机器人有限公司 | A kind of control method of mechanical arm, device, service robot and storage medium |
| CN109531565B (en) * | 2018-08-27 | 2023-11-03 | 苏州博众智能机器人有限公司 | Control method and device of mechanical arm, service robot and storage medium |
| CN112140099A (en) * | 2019-06-28 | 2020-12-29 | 百度在线网络技术（北京）有限公司 | Light effect control method, device, equipment and medium for robot |
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| CN110850971A (en) * | 2019-10-25 | 2020-02-28 | 智亮君 | Handshake interaction method and system between hand model and intelligent mirror and storage medium |
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