柔軟接触センサによる並進/回転方向滑りを考慮した把持力の調整 Grasping Force Control in Consideration of Translational and Rotational Slippage of an Object by a Flexible Contact Sensor
This paper addresses the issue of translational and rotational slippage that occurs when a robot hand grasps an object. To grasp an object against each directional slippage is an important task. In this study, to deal with rotational slippage, a contact area between a flexible contact sensor which is mounted on the robot hand and the object is considered. A sufficient condition for grasping an object against translational/rotational slippage is derived on condition that no additional sensors, such as tactile sensors, are required.<br>An effectiveness of the condition is confirmed by a grasping experiment with the use of a translational gripper where the flexible contact sensor is mounted.
- 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society
電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 126(8), 990-996, 2006-08-01
The Institute of Electrical Engineers of Japan