Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 411
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Mechanical Control 2
Grasping Control for the Soft Object for Robot Hands
*Satoshi Hasui, Kenji Kondo, Masahiro Nishikawa, Tadashi Egami
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Keywords: Robot Hands, Deformation, Grasping Control
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Abstract
In this paper, we propose grasping control based on Compensation Force and Binding Force. We also discuss grasping control for the soft (deformed) object for multi-fingered robot hands. Using Mass-Spring-Damper lattice model, grasp of the soft object is considered correcting the error between a real object and a model.
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© 2010 JSME
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