多様な道具を扱えるロボットハンドを用いた紙切断作業

抄録

Recently, various multi-fingered hands have been developed to perform a variety of tasks like humans. Many of them have a large number of actuators and complex mechanisms, so that they should be expensive and require complex control. The purpose of our research is achieving diversity by simple mechanisms. Human being achieves various tasks with tools, e.g. scissors, nipper, pliers, driver, etc. If robot handles these tools, its diversity might increase. In this paper, we propose a robot hand that can handle these tools by placing two additional passive joints at fingertips of a parallel gripper. In addition, we clarify necessary knowledge to achieve a paper cutting task by scissors with the proposed robot hand. Furthermore, control approaches for paper cutting task are proposed. Feasibilities of our robot hand and proposed approaches are confirmed by experiments.