抄録
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.
