2A2-A22 高速ビジョンを用いた多指ハンドによる紙のハンドリング  [in Japanese] 2A2-A22 Paper handling using a multifingered hand with high-speed vision  [in Japanese]

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Abstract

The purpose of the study is to achieve various types of paper handling such as turning over, bending, and folding, and the final goal is to achieve Origami task by multifingered hand. As a first step, in this paper, a position control of a paper by visual servoing is achieved. A paper is moved by using two fingertips. Each fingertip is controlled independently, and the paper can be controlled to a desired position and orientation by controlling the rotation speed of each fingertip and the angle of each finger link at the contact point. Experimental Results 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) 2009(0), _2A2-A22_1-_2A2-A22_3, 2009

    The Japan Society of Mechanical Engineers

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