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)) 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))

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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.

収録刊行物

  • ロボティクス・メカトロニクス講演会講演概要集

    ロボティクス・メカトロニクス講演会講演概要集 2012(0), _1P1-H01_1-_1P1-H01_4, 2012

    一般社団法人 日本機械学会

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