2A2-B08 多指ハンドによる三次元ケージングの実現

• 渡邉 匠

  横国大

• 槇田 諭

  横国大

• 前田 雄介

  横国大

書誌事項

タイトル別名

• 2A2-B08 3D Multifingered Caging : Manipulation Strategy and Experimental Verification

抄録

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

  ロボティクス・メカトロニクス講演会講演概要集 2009 (0), _2A2-B08_1-_2A2-B08_4, 2009

  一般社団法人 日本機械学会

キーワード

• Manipulation
• Multifingered Hand
• Caging

詳細情報

• CRID: 1390282680912616832
• NII論文ID: 110008698251
• DOI: 10.1299/jsmermd.2009._2a2-b08_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2009/0/2009__2A2-B08_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可