| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand comprising three or more finger parts, which can stably grasp an object even when the object is placed at a position shifted from a reference position.SOLUTION: A robot hand (1) comprises three finger parts (3A, 3B and 3C), actuator parts (30A, 30B and 30C) for actuating the three finger parts respectively and an ECU (100) that controls the actuator parts. The ECU (100), when pinching and grasping an object by the one finger part (3A) and the other two finger parts (3B and 3C), performs 'position control' which controls the actuator part (30A) so that the one finger part is moved in a α direction toward the object until the one finger part reaches a target position (PA) (110), and performs 'torque control' that controls the actuator parts (30B and 30C) so that torque acting in a &bgr; direction toward the object is imparted to the other finger parts (120). |
