劣駆動ハンドによる画像フィードバック制御を用いた崩れやすい／潰れやすい食品の把持

抄録

In this paper, we propose an image feedback control for an underactuated hand to grasp brittle/deformable food without damaging it. Automation using robots in food factories are being promoted to compensate labor shortages and improve productivity. Since food products vary in shape and hardness and are difficult to be grasped by conventional robots, robot hands that conform to the shape of the object have been developed. In this research, we aimed to control an underactuated hand by using a monocular camera, without sensor or marker. In our method, we detect the deformation of the object using optical flow, adjust appropriate grasping force using area information of robot hand, and detect the grasping state using the relative displacement of the object and the hand. Through the experiments, twelve types of real foods were successfully grasped without dropping and without damaging expect two foods.