Research on Tactile-Gripping for Difficult-to-Grasp Objects

This study focuses on the automation of food preparation and boxing in the food manufacturing industry.An important point of food grasping by robots is that the shape of the food should not be damaged.However, it is difficult for a conventional robot hand to perform this task perfectly.Therefore, an end-effector equipped with a camera-based tactile sensor has been developed to perform this task in previous studies.However, the performance of this endeffector depends on the reflectance of the target object, since it estimates contact based on the reflectance of light.We have developed a camera-based tactile sensor and contact estimation system to solve this problem.In addition, we have developed a pickup motion combined with object detection.