1P1-J03 Manipulation by the Finger Mechanism with the Omnidiretional Roller(Robot Hand Mechanism and Grasping Strategy (3))

Abstract

This paper describes the manipulation by the finger mechanism with omnidirectional driving roller to realize the two active rotational axes on the surface of the grasped object. As the omnidirectional driving roller, we adopt the Omni-Crawler we developed. This cylinderical tracked unit can be used as the roller and the fingers with this roller can manipulate the grasped object in the arbitrary axes. Object Manipulation in any axes not only the rotation but also the translational motions are confirmed through the experiments with actual prototype model.