Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 50th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 5F2-5
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Host: The Institute of Systems, Control and Information Engineers

Stable Grasp and Manipulation in 3D Space with a 2-Soft-Fingered Robot Hand
Tsuneo Yoshikawa, Masanao Koeda, *Haruki Fukuchi, Atsushi Hirakawa
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Keywords: Robot hand, Soft skin, Grasping, Manipulation
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Abstract
This paper proposes a control method for a 2-soft-fingered robot hand to grasp and manipulate objects stably and presents experimental results to show the validity of the proposed method. The method not only keeps positional stability of manipulation using a position based control but also controls fingertip contact force with reasonable accuracy taking the elasticity of the soft skin of the fingers into consideration.
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© 2006 The Institute of Systems, Control and Information Engineers
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