Identification of object parameters with robot hand

Generally, the grasp problem by the robot hand has two categories, one is stable grasp and the other is object parameter detection. This paper proposes to combine these two issues, and shows the concepts `process of grasp´ and `cognition grasp´. Along these concepts, the way to detect mass center and to approximate the shape of the object using tactile sensor information from the dexterous robot hand system are discussed. Further a method to treat surface information to realize active sensing with rolling motion of the object around the fingertip. The robot hand system including a 6-axis force and torque sensor and controller to verify those algorithm is also shown