Proceedings of the Japan Joint Automatic Control Conference
THE 52ND JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : C6-6
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Host: ISCIE, SICE, JSME, JSPE, JSASS, SCEJ

Co-host: Technically Cosponsored by 48 Societies and Institutes

Grasping Method for Considering Softness of the Object for Robot Hands
*Satoshi HASUI, Masahiro NISHIKAWA, Tadashi EGAMI
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Keywords: Multi-Fingered Robot Hand, Grasping Method, Softness of the Object
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Abstract

In this paper, we discuss grasping method for considering softness of the object for multi-fingered robot hands. Though the grasp of the soft (deformed) object in general are complex and difficult, we consider it applying the grasping method of Compensation Force and Binding Force. We also propose Mass-Spring-Damper Lattice as a soft (deformed) object to polish the grasping method.

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© 2009 ISCIE
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