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

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書誌事項

タイトル別名
  • Shape Classification in Rotating Manipulation by Universal Robot Hand-Local Shape Classification of Object using DP Matching
  • ユニバーサル ロボット ハンド ニ ヨル カイテン ソウサチュウ ノ ケイジョウ シキベツ DP マッチング オ モチイタ タイショウブツ ノ キョクショ ケイジョウ シキベツ
  • Local Shape Classification of Object using DP Matching
  • DPマッチングを用いた対象物の局所形状識別

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抄録

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.

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