Abstract
A humanoid robot hand receives much attention in various fields. We have developed the universal robot hand with the multi-axis force/torque sensors. In order to manipulate an object by the robot hand without dropping the object, it is important to detect a slip between the object and the robot finger. Therefore, we propose a slip detection method with the multi-axis force/torque sensor and an anti-slip control method based on the slip detection. The effectiveness of the proposed slip detection and the anti-slip control is verified through some experiments with the universal robot hand.