1P1-A13 Manipulation of a Tweezer-Type Tool by a Multifingered Hand based on High-speed Visusal Servoing
-
- MIZUSAWA Satoru
- Univ. of Tokyo
-
- NAMIKI Akio
- Chiba University
-
- ISHIKAWA Masatoshi
- Univ. of Tokyo
Bibliographic Information
- Other Title
-
- 1P1-A13 高速多指ハンドによる高速視覚サーボを用いたピンセット型道具操り(ロボットハンドの機構と把持戦略)
Abstract
In order to achieve a skillful handling like a human hand, it is necessary that a hand has a capability to manipulate tools. One important problem of tool handling with a multifingered hand is that relative positions among a robot hand, a tool and a handled object change during the handling. For this reason, it is necessary to measure the relative positions in realtime, and to control a hand so as to cancel the changes. In our research, we have resolved this problem by using a high speed visual servoing. In this paper, as an example, a tweezers is handled by a multifingered hand. A new method to control tools and an experiment result are shown.
Journal
-
- 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-A13_1-_1P1-A13_4, 2008
The Japan Society of Mechanical Engineers
- Tweet
Details 詳細情報について
-
- CRID
- 1390001205936410880
-
- NII Article ID
- 110008696010
-
- ISSN
- 24243124
-
- Text Lang
- ja
-
- Data Source
-
- JaLC
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed