Development of a Jenga game manipulator having multi-articulated fingers

This paper describes current status of our effort to develop a robot system that can play Jenga game against human players. Unlike most of the previous Jenga robots that use grippers, this robot is equipped with a hand with two multiarticulated fingers covered by soft skin and does not have any major mechanical constraint in playing the game in a natural way as human players do. An experimental result of a game played between the robot and a human player is presented.