1A2-F10 波動伝播に基づく高速スローイング動作(感覚・運動・計測)  [in Japanese] 1A2-F10 High-speed Throwing Motion Based on Wave Propagation  [in Japanese]

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Abstract

The speed of recent robotic manipulation is very slow although a mechanical system excels in the speed of motion fundamentally. On the other hand various inventions which contribute to fast movement are reported in human motion. For instance, in human throwing motion we can observe the movement called "kinetic chain" which enables to propagate kinetic energy. Based on this motion, a throwing strategy focused on the superposition of wave patterns is proposed in order to achieve high-speed robot motion. The evaluation on contact modeling for control of a target is also analyzed.

Journal

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2007(0), _1A2-F10_1-_1A2-F10_4, 2007

    The Japan Society of Mechanical Engineers

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