| 摘要 |
PROBLEM TO BE SOLVED: To perform lifting of an object, having unknown weight and friction factor, by a robot hand or a manipulator without any deviation in a grasping position. SOLUTION: An object W is grasped by a curved elastic body 13 attached to the tip of the finger of a robot hand. In the case of only a grasping force Fn, no slide occurs to a contact surface between the object W and the curved elastic object 13 but a stuck state occurs (the left side in a Fig). Further, when a force (a lifting force) Ft in the tangential direction of a contact surface is applied, at a part (1-4 and 9-11) of the curved elastic body 13, a contact surface therebetween slides and a part (5-8) is in a stuck state. A plurality of distortion gauges are embedded in the curved elastic body 13 to measure a distortion amount and a part wherein the stuck part is high in a distortion change velocity is large and a sliding portion is small. This method detects the size of the sealing region. This method detects the size of the stuck region, controls the lifting force Fn and the lifting force Ft such that the size of the stuck region is held at a given value, and lifts the object without crushing the object W in the hand and slipping it down.
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