| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for identifying the coefficient of friction between the respective fingers of a robot hand, which grasps a matter by a plurality of fingers to raise the same without damaging the matter, and the matter, to provide a grasp controlling method, to provide the robot hand of performing the grasp controlling method, and to provide a program. SOLUTION: The respective fingers of the robot hand are brought into contact with the surface of the matter to apply normal line forces to the matter (step S1) and the normal line forces are gradually increased. If sense-of-force sensors begin to detect the normal line forces, the robot hand is raised while increasing the normal line force to slide the respective fingers along the surface of the matter (step S2). The sense-of-force sensors of the respective fingers detect the normal line forces and tangent line forces (step S3) and, if the tangent line forces become constant (step S4), the driving of the fingers becoming constant in the tangent line forces is stopped (step S5), and the coefficient of friction is calculated with respect to the fingers the driving of which is stopped (step S6). COPYRIGHT: (C)2011,JPO&INPIT
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