Slip based pick-and-place by universal robot hand with force/torque sensors

A multi-fingered robot hand receives much attention in various fields. We have developed the multi-fingered robot hand with the multi-axis force/torque sensors. For stable transportation, the robot hand must pick up an object without dropping it and places it without damaging it. This paper deals with a pick-and-place motion by the developed robot hand. In this motion, the robot hand detects a slip by using the multi-axis force/torque sensors and implements the pick-and-place motion according to the detected slip. The effectiveness of the proposed grasp selection is verified through some experiments with the universal robot hand.