Abstract
A robot hand needs to manipulate an object with different sizes and shapes in various environments. However, sometimes gravity force occur a slip when the manipulator picks up the object. Therefore, grasping posture is needed to decide in order to prevent the slip. In this paper, we propose a decision method of grasping posture considering object slippage with multi-fingered robot hand. When the slip occurs during manipulating the object by the robot hand, torque acting on the robot fingertip changes by the slip. The robot hand detects the slip by observing the torque acting on the robot fingertip by the multi-axis force/torque sensors. The grasping posture is determined considering the slip, when the robot hand picks up and places the object.
