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) 1P1-A13 Manipulation of a Tweezer-Type Tool by a Multifingered Hand based on High-speed Visusal Servoing
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.
ロボティクス・メカトロニクス講演会講演概要集 2008(0), _1P1-A13_1-_1P1-A13_4, 2008