把持状態に基づく運動計画のための触覚吸着パッドの開発

抄録

This paper describes a vacuum suction pad with a tactile sensor capable of evaluating and predicting the fall of a grasped object. First, it provides an overview of the research background, the utility of the suction pad, and related studies. Next, it focuses on the principles of the conductive sponge substrate and amplifier substrate, which constitute the developed device, as well as the tactile suction pad fabricated by integrating them, highlighting improvements made since the previous year. Following that, experiments are conducted to assess whether the improved device can accurately measure ”the grasping state of an object,” and the results and discussions of these experiments are presented. Finally, the paper discusses trajectory planning based on the adhesion information obtained from the experiments.