ユニバーサルロボットハンドによる回転操作中の形状識別 : DPマッチングを用いた対象物の局所形状識別 Shape Classification in Rotating Manipulation by Universal Robot Hand : Local Shape Classification of Object using DP Matching

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We propose a method of shape classification in rotating manipulation by a multi-fingered robot hand. A multi-fingered robot hand understands position and posture of a object and can realize suitable manipulations by classifying a shape of contact surface in rotating manipulation. Our method uses pressure distributed sensors equipped in fingers and consists of the following three processes. First, periodic pressure distributions are measured by a pressure distributed sensor in rotating manipulation. A kurtosis is calculated from each pressure distribution and can quantify a shape of contact surface in the moment. Secondly, a kurtosis pattern is cut out from a periodic kurtosis. Finally, a degree of similarity calculates between a kurtosis pattern and a reference pattern by DP matching method and classifies the shape of contact surface using thresholds. We confirm that our method classifies three objects with a high degree of accuracy and can keep the classification rate even in changing rotation velocity through laboratory experiments.

収録刊行物

  • システム制御情報学会論文誌  

    システム制御情報学会論文誌 21(7), 219-225, 2008-07-15 

    一般社団法人 システム制御情報学会

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各種コード

  • NII論文ID(NAID)
    10021850457
  • NII書誌ID(NCID)
    AN1013280X
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13425668
  • NDL 記事登録ID
    9566923
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-195
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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