変形しやすい管状物体の挿入作業における人間の運動と作業状態識別則のロボットマニピュレータへの移植

• 平井 慎一

  立命館大学ロボティクス学科

• 野口 英昭

  (株) コマツコンポーネント事業部

書誌事項

タイトル別名

• Human-demonstration Based Approach to the Object Motion Design and the Recognition of Process State Transitions in Insertion of Deformable Tubes.
• ヘンケイシヤスイ カンジョウ ブッタイ ノ ソウニュウ サギョウ ニ オケル

抄録

A human-demonstration based approach to the object motion design and the recognition of process state transitions in the insertion of a deformable tube is presented. First, human demonstration during the insertion of a deformable hose into a rigid plug is measured by use of a position sensor and a force sensor. Secondly, the measurements are analyzed with regard to the process states during the insertion. Human motion and recognition laws to detect process state transitions from force sensation are then extracted through the analysis of human demonstration. Finally, human motion during the insertion is transplanted to a mechanical manipulator to examine whether the human recognition laws are useful or not for the insertion performed by a mechanical manipulator.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 15 (8), 1172-1179, 1997

  一般社団法人 日本ロボット学会

キーワード

• Manipulation
• Insertion
• Deformable Objects
• Human Demonstration
• Recognition

詳細情報

• CRID: 1390282679701326080
• NII論文ID: 10007441054
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.15.1172
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4343838
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4343838
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可