多層構造流体指の剛体層への接触検知を利用した物体把持

抄録

In this study, grasp objects using multi layer structure fluid fingers detectable contact with rigid layer. The fingers is composed of rigid layer and fluid layer. The fingers can delicately grasp fragile objects with fluid layer and provide large grasping force with rigid layer. If contact with rigid layer can be detected, it is possible to choose grasping using fluid layer or grasping using rigid layer. First, grasp objects by integrating and controlling three modules: contact detection of rigid layer, internal pressure control of the fingers, and grasping operation of the fingers. Then, after evaluating performance of contact detection function, we carried out object grasping experiment of the finger.