安定指標を用いた2指マニピュレータによる物体把持シミュレーション

抄録

In recent years, reductions in the labor force due to aging have become a problem in developed countries. Therefore, automation is advanced in multi-product variable production which has been conventionally done manually. However, it is still done manually in terms of tasks requiring hand dexterity such as using tools, and handling of flexible items such as foods. Therefore, in this research, in order to realize the automation of the manual work, we aim at the construction of an object grasping system that capable of dexterous, soft and robust grasping. In this paper, we introduced a stability index based on potential energy and constructed the gripping simulation.