1A1-B34 ダイナミックリグラスピングにおける把持戦略  [in Japanese] 1A1-B34 Grasp Strategy for Dynamic Regrasping  [in Japanese]

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Abstract

In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static, in a constant cantact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, the regrasping strategy based on visual feedback is presented and experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. A cylinder is chosen as a specific example of target for dynamic regrasping, with successful dynamic regrasping tasks are experimentally achieved.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006(0), _1A1-B34_1-_1A1-B34_4, 2006

    The Japan Society of Mechanical Engineers

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