Abstract
Grasping is a basic task for human beings. It is important for robot systems to achieve a soft grasping from a safety point of view particularly for outside-action. The purpose of this study is to apply both internal/external impedance and admittance control methods which realize both soft grasping between real robot fingers and actual robots and soft stiffness for outside environment, and to evaluate them. Previous experiments of grasping were carried out under static external force conditions, whose performance were evaluated in the view point of the internal/external impedance control for a multi finger arm robot system. This paper shows its effectiveness under dynamic external force conditions. Furthermore, an internal/external admittance control was studied in order to compare between a force control servo-system and a position control servo-system because the force control servo-system realizes the impedance control and the position control servo-system realizes the admittance control.
