Robotic Hand with In-hand Rotation Function for Entering Narrow Spaces

Abstract

In this study, we aim at the development of a robotic hand with thin fingers and in-hand rotation function. To achieve the in-hand rotation function, we evaluated the performance of several kinds of sponges as fingertips, and introduced a mechanism that can rotate objects even if the rotation axis was shifted. To evaluate the performance of the robot hand, we conducted the pick & place experiments on objects with various features.