1A1-L03 超冗長自由度を有するロボットハンドの開発(ロボットハンドの機構と把持戦略(1))  [in Japanese] 1A1-L03 Development of a Robot Hand with Hyper Redundant Degrees of Freedom(Robot Hand Mechanism and Grasping Strategy (1))  [in Japanese]

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Abstract

Recently, the usefulness of multi-fingered robot hands to perform fine manipulation and grasping tasks is widely recognized. In this study, we focus on dexterous manipulation in particular, and we have developed a new robot hand to improve dexterous manipulability. The robot hand has two fingers and each finger has seven degrees of freedom. It is enough to control the position and orientation of the fingertip, and one redundant DOF is left. Each finger has 6-axis force/torque sensor and it is used for compliance control. In this paper, we describe the design concept, kinematics, and a control method of the new hand. Finally we show a demonstration of folding a sheet of paper.

Journal

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013(0), _1A1-L03_1-_1A1-L03_4, 2013

    The Japan Society of Mechanical Engineers

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