2A2-B16 指先旋回軸を有する多指ハンドを用いた把持物体の姿勢制御  [in Japanese] 2A2-B16 Orientation Control of a Grasped Object Using a Multifingered Hand with Fingertip Revolution Axes  [in Japanese]

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Abstract

To develop a dexterous robot hand is one of the most important subjects in the robot research field. The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip revolution axes. First, the kinematic relationship between the fingertip revolution and the orientation of a grasped object is proposed. Secondly, based on the kinematics, a new orientation control method of a grasped object is proposed. This control method uses the rolling contacts between the fingertips and the object. As the target, a sphere, a cube and some tools were used.

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-B16_1-_2A2-B16_4, 2009

    The Japan Society of Mechanical Engineers

Cited by:  1

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