Abstract
We have developed a non-contact sensor called "proximity sensor" that detects position and posture of an object in a short-range. The proximity sensors are mounted on a palm and fingertips of a robot hand. With the sensor on a palm, the palm center position and an object center position are matched. And with the sensor on a fingertip, the fingertip surface and an object surface face each other and keep constant distance. The combination of them realizes grasping a static object that has unknown shape by a robot hand. But we have not focused on grasping a moving object. In this paper, we focus on grasping a moving object. So we investigate grasping an moving object that moves unknown speed by the robot hand with the proximity sensors.
