Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This paper propose a method using caging with two fingers in consideration of the influence of gravity as a method of transitioning the object from the initial posture to the target posture. By using caging in consideration of gravity, we realize change of posture of object by simple gripper which does not require force control. In this research, we search all equilibrium states by analyzing two types of objects for all discretized finger states in the three-dimensional configuration space defined by the center of gravity position and rotation displacement of the object. Next, we create an action of two fingers for transitioning from the initial attitude to the target attitude. Finally, we confirm the motion obtained from the analysis result with the actual robot and two kinds of objects. Experimental results confirmed that the object can transition to the target state as analyzed.
