Abstract
To achieve a skillful operation like the human being by robot hand, an interaction with the vision and the tactile sense is indispensable. To consider the safe and certain grasping operation by the robot hand, we proposed use of proximity sensor which can detect the several tens of millimeters from finger-tip surface and tactile sensor. And we call such a robot hand an "intelligent robot hand" and develop this. This time, we propose the control method of internal force based on CoP(center of pressure) tactile sensor for the achievement of grasping by three fingers and confirmed utility of the proposal method by the experiments.
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