Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
In the robotic grasping, occlusion occurs around target object by surrounding objects when using vision sensor. In this case, it may cause the grasping failure due to the collision by the surrounding obstacles. Therefore, In the robotic grasping, In order to solve this problem, we propose a method by installing proximity sensors on fingertip and nail besides on finger belly. These sensors can detect the position and distance information to the surrounding objects for avoiding collision. The proposed method has been implemented to a robot hand system and successful avoiding motion has shown the effectiveness of the method.
