The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 1P1-A06
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1P1-A06 Grasping Method for Considering Friction or Softness of the Object for Robot Hands
Masahiro NISHIKAWA, Atsushi FUJITSUKA, Hideki OBA, Tadashi EGAMI
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Keywords: Multi-Fingered Robot Hand, Grasping by Gravity Compensation and Binding Force, Friction or Softness of Object
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Abstract
In this paper, we discuss grasping method for considering friction or softness of the object for multi-fingered robot hands. Though the grasp of the object with a little friction or the soft (deformed) object in general are complex and difficult, we consider them applying the grasping method of Gravity Compensation Force and Binding Force. We also propose Mass-Spring-Damper Lattice as a soft (deformed) object to polish the grasping method.
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© 2008 The Japan Society of Mechanical Engineers
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