Dexterous handling using a multifingered hand with finger rotation mechanism

• Namiki Akio

  Department of Mechanical Engineering, Chiba University

抄録

To develop a dexterous robot hand is one of the most important subjects in the robotics research field. The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip rotation axes. First, the kinematic relationship between the fingertip rotation and the rotation of a grasped object is proposed. Secondly, based on the kinematics, a new rotation control method of a grasped object is proposed. This controlmethod uses the rolling contacts between the fingertips and the object. As the target, a sphere and a cube were used.

収録刊行物

• The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM

  The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (0), 439-443, 2010

  一般社団法人 日本機械学会

詳細情報

• CRID: 1390282680869527168
• NII論文ID: 110009957756
• DOI: 10.1299/jsmeicam.2010.5.439
• ISSN: 24243116
• Web Site: https://www.jstage.jst.go.jp/article/jsmeicam/2010.5/0/2010.5_439/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可