1A1-L03 超冗長自由度を有するロボットハンドの開発(ロボットハンドの機構と把持戦略(1))

抄録

Recently, the usefulness of multi-fingered robot hands to perform fine manipulation and grasping tasks is widely recognized. In this study, we focus on dexterous manipulation in particular, and we have developed a new robot hand to improve dexterous manipulability. The robot hand has two fingers and each finger has seven degrees of freedom. It is enough to control the position and orientation of the fingertip, and one redundant DOF is left. Each finger has 6-axis force/torque sensor and it is used for compliance control. In this paper, we describe the design concept, kinematics, and a control method of the new hand. Finally we show a demonstration of folding a sheet of paper.