2A2-C21 未知重量・摩擦・剛性対象物に対する把持力設定手法 : 受動柔軟性を利用した持ち上げ前特性計測の活用

概要

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In this paper, we proposed a setting methodology of the reference value of grasping force, when the multi-finger hand grasps and lifts up objects unknowing their weight, coefficient of the static friction and stiffness. To avoid dropping down and crushing the object is required of the grasping force. For fulfilling this requirement, our method measures object characteristics in the way detecting the moment of crushing and slipping through the value of the mechanical-passive-element displacement. Our method sets the reference value of grasping force from the upper limit to avoid crushing and the lower limit for lifting up calculated from those characteristics. Finally, we validated the effectiveness of proposed method through experiments using the actual human-mimetic hand system.