抄録
A humanoid robot hand is expected that it will be able to work in various fields such as remote medical care and extreme environment. Therefore we have developed and studied five fingered robot hand, "Universal Robot Hand II". However its work area is limited in real world. In this paper, we combined a robot arm with the robot hand to expand the work area and developed the Hand/Arm Robot System. This system is able to control the robot hand and the robot arm simultaneously. We show the effectiveness of this system through the manipulation experiment of door knob by the Hand/Arm Robot System.
