指の制御モードを考慮に入れたグラスプレス·マニピュレーションの計画

抄録

In this paper, we propose a planning method of graspless manipulation by multiple robot fingers. By considering whether each robot finger should be position-controlled or force-controlled, the method can generate manipulation plans that use both position- and force-control appropriately. We present some planned results including pushing and tumbling of a cuboid by two robot fingers.