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Robotic Hand with Flexible Fingers for Grasping Cylindrical Objects
Mizuho SHIBATA*1
In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several experiments.
Keywords: Flexible finger, Robotic hand, Grasping, Cylindrical Object
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3mm 42mm
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2015 5 7
*1 739-2116 1E-mail shibata@hiro.kindai.ac.jp
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近畿大学次世代基盤技術研究所報告 Vol. 6(2015)67-71
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5kg
250mm
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Object Finger Vacuum suction pad
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