Departmental Bulletin Paper 〈原著論文〉円筒状物体把持のための柔軟爪を有するロボットハンドの開発

柴田, 瑞穂

In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several experiments.

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