Abstract
To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for controlling grasping force of multi-fingered robot hand based on slip detection using the Center of Pressure(CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load within 1ms. With the CoP sensor, incipient slip can be detected as the sensor force output signal change before the slip displacement occurs. We propose a method for controlling grasping force based on slip detectionand. It is confirmed that the grasping force can be adjusted to adequate force on the robot hand grasping with the proposed method.
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