Abstract
We report on our newly developed two-fingered robotic hand with soft and thin skin. This hand is basically controlled by a position-based control algorithm. However, it can realize desired grasping force due to the soft skin while maintaining stability of the system. For an experimental validation of this concept, we conducted following the three kinds of manipulation tasks: manipulating of a cubic object, opening and closing of a bottle cap, and turning of a crank. These results show that this two-fingered hand can perform various manipulation tasks of objects in three dimensional space.
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© 2008 Springer-Verlag Berlin Heidelberg
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Yoshikawa, T., Koeda, M., Fukuchi, H., Hirakawa, A. (2008). Stable Grasp and Manipulation in 3D Space with 2-Soft-Fingered Robot Hand. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_5
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DOI: https://doi.org/10.1007/978-3-540-77457-0_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
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