摩擦制御可能な表面をもつロボットハンドの開発

抄録

The purpose of this research is to develop a robot hand that holds tableware. The conditions for the robot hand to grasp tableware were to adapt to the object, to have a high frictional force even under water or oil and to slide the environment. We create a robot hand using the friction controllable surface developed in previous research. The friction control surface obtains high friction in any state of dryness and reduces friction by a lubricant. First, we created a robot finger and verified the performance of the surface structure. Using robot fingers, we created a three-fingered hand and performed a gripping experiment.