真空吸着，多指併用による多種小包把持技術の開発

抄録

Large-scale distribution hubs handle a number of parcels having various physical properties (e.g. size, shape stiffness, etc.). However, traditional end-effectors are not versatile enough for robotic systems to grasp them. We have developed an original robot hand and a grasp planning algorism. The hand has a suction mechanism and three fingers actuated by two motors, and can grasp various objects by using two types of mechanisms individually or in combination. The effectiveness of the developed hand is evaluated by experiments using evaluation objects simulating field parcels.