• DocumentCode
    3763187
  • 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
  • fYear
    2015
  • Firstpage
    1
  • Lastpage
    3
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Micro-NanoMechatronics and Human Science (MHS), 2015 International Symposium on
  • Type

    conf

  • DOI
    10.1109/MHS.2015.7438342
  • Filename
    7438342
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3763187