1P1-J04 受動柔軟ハンドのための把持計画手法 : 複数関節のばね伸展バランスを考慮した指姿勢の決定(ロボットハンドの機構と把持戦略(3)) 1P1-J04 Grasp Form Planning for Robot Hand with Passivity : Finger Posture Design Considering Displacement Balance of Joint-springs(Robot Hand Mechanism and Grasping Strategy (3))
We propose a planning of grasp form for a robot hand with passivity. The purpose is to realize more stable grasping and changing forms. We design two indices: "displacement balance of joint-springs" and "finger-tip compliance." First grasp form candidates are calculated by grasping force and size of object. Then these indices extract the moderate grasp form from these candidates. The former index is to avoid both over-displacement and non-displacement. Because of these displacements, fingers can't absorb model errors. The latter one is to avoid fluctuations of grasping force. We also report grasping and drawing experiment to check the effects this method. The results show that this method realizes more stable grasping and drawing.
ロボティクス・メカトロニクス講演会講演概要集 2012, "1P1-J04(1)"-"1P1-J04(4)", 2012-05-27