抄録
This paper describes an operation method for taking out a book from a bookshelf and storing a book on the bookshelf by using a robot arm with three soft-fingered hand. A stereo camera set up in the robot neighborhood can find the position of the book that has two red markers. The operation style of taking out and storage by the robot looks like a human operation. That is, the robot draws out the upper part of the book by using one finger; after this operation, the robot grasps the book by using the other two fingers, and takes out it. The storage operation is reverse order of taking out. In addition, the robot can flexibly grasp the book with force sensors on the soft fingers. As a result, the robot can arrange books by using the operation method.
