1A1-J03 非圧縮性流体指からなるロボットグリッパによる壊れやすい対象物の把持計画(ロボットハンドの機構と把持戦略(1))

抄録

The aim of this paper is grasping very fragile objects. This paper presents grasping strategy for fragile and brittle objects and for fragile and ductile objects, with gripper whose fingertips are constructed from a rubber bag filled with gel, an incompressible fluid. The validities of the approaches were shown by experiments.