To achieve reliable grasp with robot hands, vision sensors and tactile sensors are indispensable. However, the correctness of the information from the vision sensors decreases as a robot hand approaches to a grasping object because of occlusion.
In this research, a new proximity sensor is developed, and realized reliable grasp using the information near the object. The sensor has a characteristics of fast response (less than1 ms), simple wiring (only 6 wires),and easy implementation.
Fingertips are equipped with the proximity detector array, which can detect fingertip-object distance and postures simultaneously.
In this video, We demonstrate simultaneous control of postures and distance of the fingertip before grasping.
Through this preparatory motion- pre-grasping-, it is possible to adjust fingertip positioned vertical on the object surface. Therefore, the robot hand can adjust fingertip postures for objects of various shapes automatically
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