2A2-B01 Beverage Can Opening Operation by Robot Arm with Soft Two-Fingered Gripper

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  • 2A2-B01 平行柔軟二指ハンドを持つロボットアームによる飲料缶の蓋開け操作

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This study aims to achieve some tasks, which are often executed in daily life, by an articulated versatile robot arm with flexible hand. Specifically, we use soft two-fingered gripper and try to open a lid of a beverage can, which is one of difficult tasks for the flexible hand. We analyzed human's motion and made a can opening task sequence with rotational and translational finger motion patterns. We moved the robot arm with flexible prototype hand by following the generated finger motion patterns, and successfully achieved a stable can opening task.

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