Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 11, 2022 - September 14, 2022
This paper describes the methods of lifting up an object using a robotic hand which has six-degree-of-freedom (DOF). The robotic hand was developed by our research group, and it has dual plates which serve as fingers, and the fingers of the hand are able to fold and changes the figure of it in order to handle various objects such as putting on an object, pinching, grasping, taking out a file from bookshelf and so on. In this paper, the mechanism of the robotic hand and the system configurations are presented, and we proposed the three methods, rolling over an object using one of the fingers and putting on the other one, pinching for small object and grasping an object that is somewhat large to lift up an object. The experiments to verify the handling methods are conducted, and the results were shown the effectiveness of proposed method.
