摩擦モードを推定可能な表面摩擦制御機構の開発と性能評価

抄録

Robotic hands with soft surface can grasp objects stably, but cannot manipulate easily. To address this issue, we developed friction change mechanism called CAVS, which has high and low friction modes. These friction modes change reactively to applied load. This paper explores an internal sensor to estimate the friction mode of CAVS by detecting the deformation of its surface. In this research, we use a small camera to observe deformation of internal structure of the CAVS. The camera installed on CAVS was implemented to the fingers of parallel gripper and its performance was evaluated by picking-releasing task.