2A1-E08 触覚フィードバックを用いた柔軟紐の高速片手結び(ロボットハンドの機構と把握戦略)  [in Japanese] 2A1-E08 High-speed One handed Knotting of Flexible Rope using Tactile Feedback  [in Japanese]

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Abstract

In this study, we propose a strategy of knotting using a high-speed multifingered robot hand and tactile sensors. The strategy is divided to three steps: a loop generation, a replacement of ropes, and a pulling of a rope. Through these three steps, a knotting is achieved by only one multifingered hand. And, in order to allow the continuous motion, we have added one step: "a shift of rope". The experimental results are shown using the multifingered hand with tactile sensors. Finally, we analyze a behavior of the replacement of rope to produce a high rate of success.

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), _2A1-E08_1-_2A1-E08_4, 2007

    The Japan Society of Mechanical Engineers

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