形状記憶ゲル製多指型ロボットハンドを有する双腕ロボットシステムの開発

抄録

This paper proposes a dual-arm robot system with a multi-fingered robot hand made of shape memory gel. The system includes robot hands, robot arms and a 3D camera to grasp various objects. The shape memory gel can be deformed at high temperature and the hand is designed so that various shapes such as a spoon-like shape, a fork-like shape can be realized. The deformation of the hand is realized by two 6-DOF robot arms. The 3D camera is used for the measurement of the objects and the robot hands. The robot system is under development and a simple example of the motion using the robot system is presented.