抄録
It is difficult to plan a Multi Fingered Hand, because Multi Fingered Hand have many joint and many degree of freedom. We try out teaching and playback method by Restriction Type Data Glove. It has the same form and the same structure as Multi Fingered hand. This method is easy to manipulate some object by Multi Fingered Hand. Grasping is a popular manipulation. Compliance control realize grasping object. We experiment the teaching and playback method to grasp rubber ball and circle type connector.
