スケール依存型把握

• 白井 達也

  広島大学工学部

• 金子 真

  広島大学工学部

• 辻 敏夫

  広島大学工学部

書誌事項

タイトル別名

• Scale-Dependent Grasp.
• スケール イゾンガタ ハアク

抄録

This paper discusses the scale-dependent grasp. Suppose that an object is initially placed on a table without touching by human hand and, then he (or she) finally achieves an enveloping grasp after an appropriate approach phase. Under such initial and final conditions, human unconsciously changes the grasp strategy according to the size of object, even though they have similar geometry. We call the grasp planning the scale-dependent grasp. Focusing on column objects, we first classified the grasp patterns into a couple of grasps and extracted the essential motions so that we can apply the scale-dependent grasp to multi-fingered robot hands. We found that the grasp patterns should be also changed according to the surface friction and the geometry of cross section of object in addition to the scale. The basic strategies were verified by experiments. Finally, we considered how each strategy should be switched from one to another.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (4), 567-576, 1999

  一般社団法人 日本ロボット学会

キーワード

• Scale Dependent Grasp
• Multi-Fingered Robot Hand
• Column Objects

詳細情報

• CRID: 1390282679702268800
• NII論文ID: 10002866294
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.567
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4728981
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4728981
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可