| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a configuration dispensing with sensing of a fingertip force, in a multi-fingered hand.SOLUTION: In a multi-fingered hand 10, an A-finger 21 (first finger) and a B-finger 22 (second finger) are provided as at least two fingers. The multi-fingered hand 10 comprises: a first step of stopping drive of the A-finger 21 in the state of bringing the A-finger 21 into contact with a gripping object 50; and a second step of gripping the gripping object 50 with the A-finger 21 and the B-finger 22 by bringing the B-finger 22 into contact with the gripping object 50 after the first step.</p> |
