Title :
Development of multifunctional robot hand for visual inspection equipped with 3D force sensing
Author :
Ryo Akiyama;Kazuto Kamiyama;Masaru Kojima;Mitsuhiro Horade;Yasushi Mae;Tatsuo Arai
Author_Institution :
Graduate School of Engineering Science, Osaka University, 560-8531, Japan
Abstract :
In this paper, we design a robot hand for visual inspection equipped with 3D force sensing. The designed hand is attached to the tip of legs of multi-legged robot ASTERISK. The reason for the robot hand to be equipped to the tip of ASTERISK is that it could meet following four requirements. Firstly, the hand system can catch a 1cm size object such as bolts and wires. Secondly, a small camera is attached inside the hand for visual inspection. Thirdly, when moving, the hand will close and become regular tip of leg. Lastly, the hand can equip 3D force sensing ability.
Keywords :
"Legged locomotion","Force measurement","Force"
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2015 International Symposium on
DOI :
10.1109/MHS.2015.7438342
