Abstract
Since a robot plays a role in several situations such as public facilities and housework, it has to handle the various objects. In order to achieve the abovementioned handling, a free grasping is effective to obtain a rotational DOF of the grasped object by reducing grasping force. In this study, in order to realize the free grasping, we have developed two functions. One is the attitude control of a rod-shaped grasped object through the reduced grasping, which is a transient process for the free grasping. The other is detection of holes using a rod-shaped object grasped by the robot under the free grasping. In addition, in order to evaluate the abovementioned two functions, we have carried out an assembly task, in which these two functions are used to evaluate them.
