Stable grasping and relative angle control of an object by dual finger robots without object sensing

摘要

This paper proposes stable grasping and angle control methods of an object with parallel surfaces by a pair of finger robots in a horizontal plane. The method does not require any object sensing for stable grasping but only measurement of the object angle for absolute orientation angle control. Relative orientation angle control of the grasped object can be attained even if no object sensing is used.