1A2-B08 Contact-Force Control using Multi-Finger Robot-Hand with Tactile Sensor : Multi-Point Contact Force Control with Tactile Feedback

Abstract

Handling behavior of human can be divided into Pinching and Grasping. In multi-fingered robot hand, wrapping grasp which permits the object to contact with the finger link other than the tip of finger, or palm is called Power grasp. The interaction with the tactile sensor is indispensable for the achievement of Power grasp to and unknown object with the multi-fingered robot hand. In this study, for the achievement of Power grasp operation which doesn't depend on the grasping object wit the multi-fingered robot hand, we propose a method for multi-point contact force control in inside of the finger by tactile sensor feedback without information of the grasping object and verify the proposed method by the experiment.