1P1-H01 転がり接触を考慮した多指ハンド教示システム(ロボットハンドの機構と把持戦略(3))  [in Japanese] 1P1-H01 A teaching system for a multi-fingered robot hand using kinetic information of a manipulated object under rolling contact(Robot Hand Mechanism and Grasping Strategy (3))  [in Japanese]

Access this Article

Author(s)

Abstract

This paper is about a teaching system for a multi-fingered robot hand using kinetic information of a manipulated object with vision feedback. The proposal of this system is to operate a multi-fingered robot hand with high DOF intuitively and effectively. The system calculates a appropriate trajectory according to the kinetic information of the manipulated object under twist rolling contact constraint. This paper describes a revised algorithm of the trajectory generation and the results of experiments using the developed teaching system. The future works to be improved are discussed.

Journal

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1P1-H01_1-_1P1-H01_4, 2012

    The Japan Society of Mechanical Engineers

Codes

Page Top