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This paper describes the finger mechanism with omnidirectional driving roller to realize the two active rotational axes on the surface of the grasped object. As the omnidirectional driving roller, we adopt the Omni-Crawler we developed: the crawler mechanism with circular cross section. This cylinderical tracked unit can be used as the roller and the fingers with this roller can manipulate the grasped object in the arbitrary axes. The basic concept of this finger is proposed.
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