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- MAKITA Satoshi
- Yokohama National University
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- MAEDA Yusuke
- Yokohama National University
Bibliographic Information
- Other Title
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- 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)
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
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008 (0), _1P1-A01_1-_1P1-A01_4, 2008
The Japan Society of Mechanical Engineers
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Keywords
Details
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- CRID
- 1390001205935296640
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- NII Article ID
- 110008695998
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed