Abstract
When the self-collision for the robot hand that had a multi finger and multi degree of freedom was evaded, it was necessary to enlarge the interval of the finger judged that evasion was necessary in the system by making a past finger rest so that what where the finger was made to rest by inertia in an arbitrary place may be the difficult situation, and achieve the collision evasion when the finger operation was fast etc. mutually (hereafter, collision judgment area). However, it becomes impossible to be near the finger when the collision judgment area is enlarged and to operate and the operation of the robot hand will be limited. Therefore, in a small collision judgment area, authors developed the system that did the collision evasion to the finger by avoiding and operating as a technique for achieving the collision evasion. It explains the system as follows.
