アクティブセンシングを用いた包み込み把握の接触点同定

• 舟橋 康行

• 楯 將博

書誌事項

タイトル別名

• Contact Point Identification by Active Sensing in Enveloping Grasp.
• アクティブ センシング オ モチイタ ツツミコミ ハアク ノ セッショクテン

抄録

This paper deals with an identification of contact points between finger links and a grasped object in an enveloping grasp. The grasp has the following merits. One merit is that the grasp is firmer than a fingertip grasp and a distal link grasp. Another merit is that error of contact points is recognized because the object is grasped by inner links. However, it is difficult to identify contact points and contact forces. These parameters are necessary to control the object, not to destroy it, and to shift to an optimum grasp. We propose an analytical method for an identification of unknown parameters, such as contact points and forces, by active sensing in the enveloping grasp. A necessary and sufficient condition for the identification is provided.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 61 (589), 3607-3613, 1995

  一般社団法人 日本機械学会

キーワード

• Robotics
• Mechanics
• Whole-Arm Manipulation
• Enveloping Manipulation
• Contact Point and Force
• Identification
• Active Sensing

詳細情報

• CRID: 1390001206328990720
• NII論文ID: 110002382081
• NII論文ID: 130004231280
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.61.3607
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 3621157
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3621157
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/61/589/61_589_3607/_pdf
• 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