3P2-R01 Grasp Planning for a Multi-fingered Hand with Nails(Robot Hand Mechanism and Grasping Strategy (2))

Abstract

We aim to develop a multi-fingered hand which grasps various objects. We develop a finger equipped with soft fingertip and two layers nails. The first layer of the nails is thin and long. It is possible to insert it into the bottom of the object. The second layer of the nails is thick and short. It supports the elastic force of soft fingertip. We develop a planner for selecting a grasp style according to the height of the object. The planner can grasp a low height object by using a multi-fingered hand. We demonstrate the feasibility of the proposed method with simulation. In addition, it is shown that the developed hand can grasp various objects through experimental results.