In-hand manipulation by a robot hand equipped with friction-variable surface and vision-based tactile sensor

Abstract

We explore a control method of a robot hand where the CAVS mechanism is introduced on the fingers to change the contact friction. A vision-based tactile FingerVision is introduced under CAVS, with which the hand can sense slippage and orientation of grasped objects. We use this robot hand in controlling the orientation of a grasped object by slipping it on purpose with the gravity. This paper reports the preliminary results of comparison of control with and without CAVS.