Stable Grasp and Manipulation in 3D Space with a 2-Soft-Fingered Robot Hand

• Yoshikawa Tsuneo

  Ritsumeikan University

• Koeda Masanao

  Ritsumeikan University

• Fukuchi Haruki

  Ritsumeikan University

• Hirakawa Atsushi

  Kyoto University (Currentrly with DENSO CORPORATION)

Bibliographic Information

Other Title

• 柔軟表皮をもつ2本指ロボットハンドによる3次元空間での安定な把持操り作業

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.

Journal

• Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers

  Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers SCI06 (0), 173-173, 2006

  The Institute of Systems, Control and Information Engineers

Keywords

• Robot hand
• Soft skin
• Grasping
• Manipulation

Details

• CRID: 1390001205623273856
• NII Article ID: 130004667780
• DOI: 10.11509/sci.sci06.0.173.0
• Data Source:
  • JaLC
  • CiNii Articles
• Abstract License Flag: Disallowed