2A1-F01 指先回転を用いたロボットハンドによる対象の持ち替え動作

抄録

The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip revolution axes. First, the kinematic relationship between the fingertip revolution and the orientation of a grasped object is proposed. Secondly, based on the kinematics, a new regrasping method of a grasped object is proposed. This control method uses the rolling contacts between the fingertips and the object.