3P1-H06 非伸縮分岐腱をもつ2関節ロボットフィンガの開発(筋骨格モデリング)

• 柳沢 和哉

  阪大

• 白藤 翔平

  阪大

• 池本 周平

  阪大

• 細田 耕

  阪大

書誌事項

タイトル別名

• 3P1-H06 Development of the two degrees of freedom robotic finger with nonstretch branching tendon(Musculoskeletal modeling)

抄録

The most important goal for developing robotic hands is realizing stability of the grasping and dexterous manipulation with a simple control law. To achieve them, we focus on a branching tendon mechanism in a human finger. Links connected with a nonstretch branching tendon are coupled by a geometric restriction. The coupling disappears when one of branching tendon slacks. By utilizing these features, the hand may be able to grasp with a simple control and manipulate the grasped object. We developed the robotic finger with two degrees of freedom and two tendons. We proposed a joint angular position control for this finger. We derived the condition for a branching tendon to slack, and validated it by an experiment. Experimental results demonstrated that the hand can be position-controlled when it moved freely, and that the coordination between joints changed when the condition is satisfied.

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 2014 (0), _3P1-H06_1-_3P1-H06_4, 2014

  一般社団法人 日本機械学会

キーワード

• robotic finger
• tendon-driven
• branching tendon

詳細情報

• CRID: 1390282680914334592
• NII論文ID: 110009967225
• DOI: 10.1299/jsmermd.2014._3p1-h06_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__3P1-H06_1/_pdf
• 本文言語コード: ja
• 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