3指ハンドによる柔軟対象物の柔らかい把持の実現

一力・圧力センサを有する半球突起の平行押し込みによるヤング率推定一

抄録

In this paper, we propose the method of grasping "soft" objects with 3 fingered-Robotic hand. In order to realize this, we newly developed fingertip sized Young's modulus sensor. Measuring pressure on robotic hand fingertip with the developed sensor and using expanded Hertz contact theory make it possible to estimate the Young's modulus of various softness objects. Finally, we indicate about effectiveness of proposed method through the verification experiment.