2A2-B16 指先旋回軸を有する多指ハンドを用いた把持物体の姿勢制御

• 菅野 了也

  Chiba University

• 並木 明夫

  Chiba University

書誌事項

タイトル別名

• 2A2-B16 Orientation Control of a Grasped Object Using a Multifingered Hand with Fingertip Revolution Axes

抄録

To develop a dexterous robot hand is one of the most important subjects in the robot research field. The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip revolution axes. First, the kinematic relationship between the fingertip revolution and the orientation of a grasped object is proposed. Secondly, based on the kinematics, a new orientation control method of a grasped object is proposed. This control method uses the rolling contacts between the fingertips and the object. As the target, a sphere, a cube and some tools were used.

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-B16_1-_2A2-B16_4, 2009

  一般社団法人 日本機械学会

キーワード

• multifingered hand with fingertip rotation mechanism
• regrasping

詳細情報

• CRID: 1390282680912630912
• NII論文ID: 110008698260
• DOI: 10.1299/jsmermd.2009._2a2-b16_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2009/0/2009__2A2-B16_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