Grasping Force Control in Consideration of Translational and Rotational Slippage of an Object by a Flexible Contact Sensor

摘要

This paper addresses the issue of translational and rotational slippage that occurs when a robot hand grasps an object. To grasp an object against each directional slippage is an important task. In this study, to deal with rotational slippage, a contact area between a flexible contact sensor which is mounted on the robot hand and the object is considered. A sufficient condition for grasping an object against translational/rotational slippage is derived on condition that no additional sensors, such as tactile sensors, are required.An effectiveness of the condition is confirmed by a grasping experiment with the use of a translational gripper where the flexible contact sensor is mounted.