1P1-A01 多指ハンドによる3次元ケージングの指配置計画問題(ロボットハンドの機構と把持戦略)  [in Japanese] 1P1-A01 Planning of finger configuration for 3D multifingered caging  [in Japanese]

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Author(s)

Abstract

In this paper, three-dimensional caging by a multifingered hand (3D multifingered caging) is studied. Caging is a method to constrain an object in which robot bodies surround the object and make it inescapable from the "cage" composed of the robot bodies. In 3D multifingered caging, position-controlled robot hands can manipulate objects, and force control is not necessary. Furthermore, even a robot hand with low degrees of freedom can constrain an object to manipulate. We formulate caging problems and derive sufficient conditions. In addition, we propose a method to plan robot motion with the sufficient conditions.

Journal

  • ロボティクス・メカトロニクス講演会講演概要集   [List of Volumes]

    ロボティクス・メカトロニクス講演会講演概要集 2008, "1P1-A01(1)"-"1P1-A01(4)", 2008-06-06  [Table of Contents]

    The Japan Society of Mechanical Engineers

Codes

  • NII Article ID (NAID)
    110008695998
  • NII NACSIS-CAT ID (NCID)
    AA11902933
  • Text Lang
    JPN
  • Data Source
    NII-ELS 
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