1A1-K01 並進関節を用いた柔軟3指による把持対象物の姿勢制御(ロボットハンドの機構と把持戦略(1))

抄録

This article focuses on the three dimensional posture control of the grasped object by robotic hand with soft fingertips driven by translational joints. This hand can grasp an object with appropriate grasping force and regulate two degrees of freedom a grasped object orientation. We have applied a 3-axis acceleration sensor to measure the orientation of a grasped object. We control the orientation of a grasped object by driving translational joints 2 fingers. We experimentally show that this hand can tilt the grasped object at least 20 degrees toward any direction. We also experimentally show that this hand can tilt a grasped object up to 35 degrees.