1P1-A17 Handling of a deformable object using force information at the fingertip of the multifingered robot hand

Abstract

This paper describes a explore motion of a robot finger using force information at the fingertip. The explore motion can detect a useful information to handle a deformable object or stacked objects. As an example of task which contains explore motion, we exam a towel picking with a robot hand from a pile of towels while exploring a hollow between towels using force information.