抄録
We propose a planning of grasp form for a robot hand with passivity. The purpose is to realize more stable grasping and changing forms. We design two indices: "displacement balance of joint-springs" and "finger-tip compliance." First grasp form candidates are calculated by grasping force and size of object. Then these indices extract the moderate grasp form from these candidates. The former index is to avoid both over-displacement and non-displacement. Because of these displacements, fingers can't absorb model errors. The latter one is to avoid fluctuations of grasping force. We also report grasping and drawing experiment to check the effects this method. The results show that this method realizes more stable grasping and drawing.
