抄録
We discuss a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with a small impulsive force between the object and the floor. We consider a dynamic model which includes deformation of the flexible sensor occuring when the hand grasps the object and we can obtain a trajectory of the hand which ensures that the impulsive force is less than the object's mass. The validity of the model and the effect of the sensor's flexibility are examined through simulation and experiment.
