Development of Multi Joint Gripper and Its Dexterous Grasping

被引：0
|
作者：
Nomura, S. [1 ]
Tamamoto, T. [1 ]
Takeuchi, K. [1 ]
Koganezawa, K. [1 ]
机构：
[1] Tokai Univ, Dept Mech Engn, 4-1-1 Kitakaname, Hiratsuka, Kanagawa 2591292, Japan
来源：
2017 26TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) | 2017年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In our research, we have developed a Gripper with Multi Joint Fingers (MJF) that achieves envelope grasping adapting to shape of objects. In this paper, we discuss grasping motion using two or three MJFs. The MJF has 4 serially connected joints controlled by only two actuators, one for driving all joints at the same time for envelope grasping, the other for controlling the stiffness of every joint all together. This MJG achieves envelope grasping adapting various object shapes without sensory feedback from finger parts. The paper also reports an extended mechanism that enables a smooth transition from a state of pinching object with fingertips to a stable envelope grasping. It also shows the gripper can detect a multiple contact points during envelope grasping with no touch or force sensors on the finger sole.
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页码：1412 / 1417
页数：6
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