1A1-B39 高速触覚システムを用いたペン状物体の高速把持・操り  [in Japanese] 1A1-B39 High-speed grasp and manipulation of a pen-shaped object using a high-speed multifingered hand with high-speed tactile sensor  [in Japanese]

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Abstract

We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The hand and the sensor is respectively capable of high-speed finger motion up to 180 deg per 0.1 s and high-speed tactile feedback with a sampling rate higher than 1 kHz. We have achieved the pen spinning task using the two robot fingers. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task with the three robot fingers using the system. The paper describes the tactile feedback control strategies and experimental results.

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-B39_1-_1A1-B39_4, 2006

    The Japan Society of Mechanical Engineers

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