1P1-I01 2ボールジャグリング動作における持ち直し動作の解析(ロボットハンドの機構と把持戦略(3))  [in Japanese] 1P1-I01 The Analysis of the Regrasping Motion for Two Ball Juggling by High-speed Hand-Arm(Robot Hand Mechanism and Grasping Strategy (3))  [in Japanese]

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Abstract

Humans perform skillful and fast manipulations by utilizing the dynamics of the targets effectively. Visual sensation is the most important human sense for such manipulation. It is obviously preferable that robot can perform various tasks using same end effectors like a human hand and using visual information. Juggling is one example of skillful and dynamic manipulation of human, and visual information is essential to juggling. There are several previous researches about robotic juggling. However, there are no researches about robotic juggling in which a human-like multifingered hand-arm is used. The purpose of this study is to achieve two ball juggling using our robotic hand-arm, which has three general purpose fingers, and stereo vision system. The Center of Pressure (CoP) tactile sensors are attached to the fingertips of both thumb and we can measure the grasping condition by using the sensor outputs.

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-I01_1-_1P1-I01_4, 2012

    The Japan Society of Mechanical Engineers

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