3P2-N02 可操作楕円体に基づくロボットジャグリングの動作計画(感覚・運動・計測(3))  [in Japanese] 3P2-N02 Motion Planning of Robotic Juggling Based on Manipulability Ellipsoid(Sense, Motion and Measurement (3))  [in Japanese]

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Abstract

Juggling is one of tasks involving skillful dynamic manipulation, and visual information is essential to perform juggling. We have already achieved a two-ball juggling task with our high-speed robotic hand-arm system which has three general-purpose fingers and high-speed vision system. This is the world's first attempt at achieving two-ball juggling in one hand using a robotic hand-arm. However, juggling motions become sometimes unstable. One of main problems is how to determine the catching point. In order to achieve stable juggling motions, we propose a new method to determine it by considering manipulability at the catching point. In this paper, we explain the method, and we show the results of the numerical simulations.

Journal

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014(0), _3P2-N02_1-_3P2-N02_4, 2014

    The Japan Society of Mechanical Engineers

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