학술논문
In-hand Manipulation with Universal Gripper - Object Manipulation by controlling the pressure distribution of micro-powders - / ユニバーサルグリッパによるインハンドマニピュレーション ―微小粉体の圧力分布制御による把持対象物の操作―
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2023, :2-I16
Subject
Language
Japanese
ISSN
2424-3124
Abstract
In this study, to realize in-hand manipulation with a universal jamming gripper, we attempt to estimate the position and posture of an object by measuring the strain of the powder caused by external forces, and to manipulate the object by controlling the pressure distribution based on the low permeability of the micro-powder. The authors have reported tactile sensing using conductive powders and shown that it is possible to provide a pseudo-tactile sensing function. In this paper, we present the concept of in-hand manipulation by controlling the pressure distribution of micro-powders, and report on the experimental situation with the developed gripper.