ロボットハンドの構造・運動を考慮した操りスキルの統合に基づく結び目の生成計画

• 山川 雄司

  Graduate School of Information Science and Technology, The University of Tokyo

• 並木 明夫

  Graduate School of Engineering, Chiba University

• 石川 正俊

  Graduate School of Information Science and Technology, The University of Tokyo

• 下条 誠

  Department of Mechanical Engineering and Intelligent Systems, Univ. of Electro-Communications

書誌事項

タイトル別名

• Knotting Plan based on Synthesis of Manipulation Skillswith Considerations of Robot Hand Mechanism and Motion
• ロボットハンド ノ コウゾウ ・ ウンドウ オ コウリョ シタ アヤツリ スキル ノ トウゴウ ニ モトズク ムスビメ ノ セイセイ ケイカク

抄録

This paper demonstrates the relationship between the production process of a knot and robot hand skills. First, we define the descriptions (rope intersection and fixed position) of a knot. Next, the characteristics of the robot hand skills are clarified from viewpoint of the description of the knot. Then, in order to obtain the production process of knot, we propose an analysis method based on the structure of knot and the characteristics of the robot hand skills. And, we analyze various knots using the proposed analysis method. Finally, in order to validate the production process obtained by the proposed analysis method, an experimental result of half hitch is shown by using a high-speed multifingered hand system.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 31 (3), 283-291, 2013

  一般社団法人 日本ロボット学会

キーワード

• Knotting Manipulation
• Flexible Object
• Multifingered Hand
• Skill Synthesis

詳細情報

• CRID: 1390001204728130688
• NII論文ID: 10031162053
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.31.283
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 024652772
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I024652772
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可