対象物の引き剥がし支援動作(DAM)の発見とロボットハンドへの応用 Discovery of a Detaching Assist Motion (DAM) and Application for Robot Hands

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Through grasp experiments by human achieving an enveloping grasp for a small cylindrical object placed on a table, we found an interesting grasping motion, where human changes the finger posture from upright to curved ones after each finger makes contact with the object. During this motion, the object is automatically lifted up through either rolling or sliding motion between the finger tip and the object. A series of this motion is called as <I>Detaching Assist Motion (DAM) </I>. An advantage of <I>DAM</I> is that most of grasping motions can be done on the table instead of in the air. Therefore, we can avoid the worst scenario where the object falls down to the table. We first discuss the basic mechanism of <I>DAM</I> by human experiments. We then apply the <I>DAM</I> to a grasping motion by a multi-fingered robot hand. We show that the <I>DAM</I> can be explained by using <I>Self-Posture Changing Motion.</I> We also show some simulation and experimental results to confirm that a small object can be grasped easily by applying the <I>DAM</I>.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(1), 57-64, 2002-01-15

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10008212776
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6042419
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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