多指ロボットハンドの指先に搭載した近接覚センサに基づく移動物体の追従・把持

抄録

In this paper, we propose a grasping strategy that grasps an approaching object whose position and shape are unknown using a robot hand and a robot arm equipped with a proximity sensor at the fingertip. As a grasping strategy, pregrasping, following, preshaping, and grasping motion necessary for grasping the moving object were created based on a torque control base, and the target joint torque output at the time of each motion was weighted and added. The robot hand and arm movement is generated by the output. It is thought that by gradually changing the weight of each motion in a series of grip control, seamless motion switching is possible, and an appropriate grasping motion is generated.