2A2-B13 Development of the system for grasping an object with sensors(Welfare Robotics and Mechatronics (2))

Abstract

It is thought that burdens of the care increase by influence of decreasing birthrate and aging society in Japan. Therefore development of an "Assistive Mobile robot System (AMOS)" is pushed forward in this laboratory to reduce burdens of the caretaker. We use sensors in this study to grasp an object stably by AMOS and perform the control of robot hand. In this paper, we propose the control system for grasping an object according to the difference in hardness with the tactile sensor, and for efficient approaching before grasping with the capacitance sensor. The tactile sensor and the capacitance sensor are designed to be applied to variety of robot hand. We examined the effectiveness of these sensors. Then, we demonstrate the effectiveness of control systems with these sensors.