2A1-F01 指先回転を用いたロボットハンドによる対象の持ち替え動作  [in Japanese] 2A1-F01 Regrasping of a Grasped Object Using a Multifingered Hand with Fingertip Revolution Axes  [in Japanese]

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Abstract

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 regrasping method of a grasped object is proposed. This control method uses the rolling contacts between the fingertips and the object.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _2A1-F01_1-_2A1-F01_2, 2010

    The Japan Society of Mechanical Engineers

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