抄録
This paper proposes effective utilization of contact information for robot manipulation. Some kinds of manipulation needs not only contact force control but also control of contact force direction. In particular, grasping spherical objects by fingers on the points of upper hemisphere using friction force needs to consider direction of contact force. This task needs to control contact force direction to avoid slipping between hands and surface of spherical objects. In this case the robot needs to control contact force direction with sensor information. This paper describes novel theory about how to control contact force direction with slip and force sensor. Also our robot actually grasps a spherical object with force direction control using slip and force information.
