2A2-B08 多指ハンドによる三次元ケージングの実現 2A2-B08 3D Multifingered Caging : Manipulation Strategy and Experimental Verification

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In this paper, three-dimensional caging by a multifingered hand (3D multifingered caging) with actual robots is studied. Caging is a method to make an object inescapable from the cage composed by the robot bodies. In our previous work, we formulated caging problems, derived sufficient conditions for caging, and proposed a method to plan robot motion for caging using the sufficient conditions. In this paper, we experiment 3D multifingered caging with actual robots. We classify 3D multifingered caging into three typical types and propose some strategies for caging objects in various shapes. We also show some experimental results of 3D multifingered caging and caging manipulation of various objects with an actual robot hand.

収録刊行物

  • ロボティクス・メカトロニクス講演会講演概要集   [巻号一覧]

    ロボティクス・メカトロニクス講演会講演概要集 2009, "2A2-B08(1)"-"2A2-B08(4)", 2009-05-25  [この号の目次]

    一般社団法人日本機械学会

各種コード

  • NII論文ID(NAID)
    110008698251
  • NII書誌ID(NCID)
    AA11902933
  • 本文言語コード
    JPN
  • データ提供元
    NII-ELS 
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