In the field of food processing and production processes, serving is still done manually by people in many cases. To solve the problem of quantitative serving, which is one of the challenges of robotic operations, we have developed an end-effector that can grip only one spaghetti. In this paper, we propose a method of attaching several small fingers to the end-effector, and attaching capacitance sensors to each of them. The system detects the success or failure of grasping with each finger and controls the number of fingers to be opened accordingly to compensate for the error in the amount of serving. We actually constructed the system and conducted experiments using spaghetti, and confirmed that the system can control the end-effector by detecting the capacitance.
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