1A1-J04 高速ロボットハンドの指先高速振動を用いたカード飛ばし(ロボットハンドの機構と把持戦略(1)) [in Japanese] 1A1-J04 Card Flicking using a Fingertip High-speed Vibration of a High-speed Robot Hand(Robot Hand Mechanism and Grasping Strategy(1)) [in Japanese]
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In this research, we focus on a manipulation of a sheet-like elastic object using a high-speed robot hand. Here, we manipulate a card as one of the sheet-like elastic object. In particular, we aim at a card flicking using a fingertip high-speed vibration of the high-speed robot hand. First, we discuss the card grasping at an initial state of the card manipulation based on the geometry condition of the card and the kinematics of the robot hand, and we propose a strategy of the card flicking. Then, we perform an analysis of the card flicking. And, we obtain the condition to flick the card using the slip between the card and the finger of the robot hand. Finally, we show experimental results of the card flicking using the fingertip high-speed vibration of the robot hand.
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1A1-J04_1-_1A1-J04_4, 2012
The Japan Society of Mechanical Engineers