書誌事項
- タイトル別名
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- Development of Intelligent Robot Hand Using Proximity, Contact and Slip Sensing
抄録
To achieve the skilful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, near the object surface, vision has a weak point of the occlusion. In this research, we seamlessly detect from near to contact and achieve a reliable grasp through the integration of proximity, tactile and slip sensor in a three-fingered hand, and propose an appropriate grasp strength control derived from slippage information during grasping. As a practical task, Pick & Place was adopted, and was successful in implementation under the conditions of 1) weight/shape/friction conditions are unknown and 2) placement error exists. Although the sensor group did not necessarily provide a high accurate information, it showed sufficient effectiveness through its appropriate usage.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 46 (10), 632-640, 2010
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204503324416
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- NII論文ID
- 130004549427
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- ISSN
- 18838189
- 04534654
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可