1P1-A09 スキル統合に基づく結び操作と多指ハンドによる実現(ロボットハンドの機構と把持戦略) [in Japanese] 1P1-A09 Knotting Manipulation by a Multifingered Hand based on Skill Synthesis [in Japanese]
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This paper illustrates the relationship between the knotting process and robot hand skills. To extract a necessary hand skill for knotting, the knotting motion by human is analyzed. As a result, loop production, rope permutation, and rope pulling are extracted. Moreover, taking the handling of both ends of a rope into account, rope moving is added. Then, the characteristics of these skills are clarified from viewpoint of the intersection description. Based on the analysis of knot and the characteristics of robot hand skill, the knotting process is described. Finally, the experimental results are shown by using a high-speed multifingered hand system.
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0), _1P1-A09_1-_1P1-A09_4, 2008
The Japan Society of Mechanical Engineers