JRM Vol.36 No.2 pp. 396-405
doi: 10.20965/jrm.2024.p0396


Development of Two-Finger Robot that Performs In-Hand Rotation Using Center of Pressure Information

Aulia Khilmi Rizgi* ORCID Icon, Ryohei Kurata*, Naoyuki Takesue* ORCID Icon, Yoshiyuki Toso**, Shinichi Kawabata**, Akira Tsunoda**, and Daichi Suzuki**

*Tokyo Metropolitan University
6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan

2970 Ishikawa-cho, Hachioji, Tokyo 192-8505, Japan

July 24, 2023
November 10, 2023
April 20, 2024
two-finger robot, in-hand rotation, center of pressure, uneven-surface object

We developed a two-finger robot that can grasp, rotate in-hand, and place an uneven object. To improve the success rate of in-hand rotation, three pressure sensors were mounted on each finger to detect the center of pressure (CoP) on each finger. Two approaches, called object on-the-fly adjustment and re-grasp object movement (ROM), were proposed to use the obtained CoP information to adjust the position of each finger before performing in-hand rotation and were compared with a general in-hand rotation movement. Evaluation experiments were conducted on several objects, and the effectiveness of the proposed approaches was demonstrated with the highest success rate of 93% for ROM compared with 63% for general in-hand rotation.

Two-finger robot that performs in-hand rotation using CoP

Two-finger robot that performs in-hand rotation using CoP

Cite this article as:
A. Rizgi, R. Kurata, N. Takesue, Y. Toso, S. Kawabata, A. Tsunoda, and D. Suzuki, “Development of Two-Finger Robot that Performs In-Hand Rotation Using Center of Pressure Information,” J. Robot. Mechatron., Vol.36 No.2, pp. 396-405, 2024.
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Last updated on May. 19, 2024