抄録
In this paper, we propose an artificial suction tongue inspired by the biological tongue of a chameleon. The artificial tongue easily sticks to a target surface. When the artificial tongue is impulsively pulled back, large grasping force is passively generated because of suction. Experimental results using the shooting manipulation system like chameleons (Shootica) with the suction tongue demonstrate that the system can quickly grasp and pull back far away target objects made of a different material and with different stiffness and surface curvatures. The results also indicate that although the prototype artificial suction tongue is lightweight, it has a large grasping force, even without an actuator.
