2指4自由度弾性関節指ロボットハンドの操り力による対象物の操作

抄録

This paper is concerned with the study of the stable holding and movement of an object by the grasping action of a robot hand. A control algorithm is proposed for manipulating the jointed-fingers hand while grasping an object and is applied to a hand with two fingers and four degrees of freedom developed especially for the study. In the experiment, an object on a plane is initially grasped by the hand and then moved along the restraining plane maintaining appropriate force. As a result, using the elastic-fingers unit with contact sensors, the present hand successfully moved the object while absorbing the outside force from the restraining plane.