Shaping control of plastic object by robot hand with sensor fusion processing

A robot hand must provide the multidegree of freedom mechanism and multisensor processing system to realize the dexterous handling motion. In this paper, a new sensory control method of the robot hand is proposed, for the shaping of a flexible and a plastic objects such as clay to a given shape, by using the sensor fusion processing. In this paper, the two types of hand mechanisms are introduced, they are the palm hand and the pair hand which provide the force and matrix tactile sensors. By the experiments of shaping a lump of clay to a sphere or a cube, the effectiveness of the method is confirmed