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

説明

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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