An Approach to Human-Like Grasping Control
Hiroshi Endo and Mitsuo Wada
Industrial Products Research Institute, AIST, MITI, 1-1-4 Higashi, Tsukuba-shi, Ibaraki 305, Japan
In order to grasp softly and stably with multi joint arm, the motion control of adapting along an object and pinching it are very important. Then the adapting motion is done by operating the active of winding and lateral suppression to change its formation, and the pinching one is done by controlling arms’ root joints co-operatively. From the experiment with 6-joint 7-link arm, the control method simulating those motions was found.