Summary concept 本研究では、バックドライバビリティが高いグリッパ”Magripper”と、リーチングからシームレスに高速グラスピ
- Summary concept In this study, Magripper, a highly backdrivable gripper, and hitting grasping, high-speed grasping framework, are developed to achieve high-speed hitting grasping executed seamlessly from reaching. The gripper is designed to achieve both high speediness and environmental adaptability. To realize high-speed hitting grasping with Magripper, the framework using three elements were developed. Designed Magripper, a highly backdrivable gripper Implemented deformation control based the Zener model in Magripper Proposed the concept of hitting grasping using Magripper Magripper We introduce a magnetic gear and developed Magripper, a highly backdrivable 1-actuator gripper, to achieve both high speed and environmental adaptability.