| 摘要 |
A robot hand able to change the manner of holding an object while force applied from a plurality of finger mechanisms to the object is adjusted without using an auxiliary finger mechanism. When force F<SUB>3 </SUB>is applied to object w from a certain finger mechanism 13 among the plurality of finger mechanisms 11 to 13 is changed, the operation of each finger mechanism is controlled such that a "contact" of each of the finger mechanisms 11 to 13 in the object w and an "application force vector" from each of the finger mechanisms 11 to 13 to the object w satisfy a "stable gripping condition". The "stable gripping condition" is a condition in which (1) the sum of each of forces and moments applied from the plurality of finger mechanisms 11 to 13 to the object w becomes zero, and (2) a slip index fr becomes minimum.
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