Grasp Motion Planning by Non-contact Groping based on Proximity Sensors on Robot Fingertips

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  • ネット状近接覚センサを用いた非接触手探り動作による未知物体把持の研究
  • ネットジョウ キンセツカク センサ オ モチイタ ヒセッショク テサグリ ドウサ ニ ヨル ミチ ブッタイ ハジ ノ ケンキュウ

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Abstract

This paper proposes a motion planning method for robot hands to robustly grasp unknown shaped objects by sensor fusion of vision sensors and proximity sensors. The underlying cause of failures on vision-based grasping is the existence of prediction error especially in the blind area. In the proposed method, the information of the blind area is complemented by non-contact groping motion by robot fingers equipped with proximity sensors. The proximity sensor, which we have developed and called “Net-Structure Proximity Sensor,” realized high-speed feed-back control of the fingers to adjust the posture and distance to the target object. By integrating the proximity information and vision information, the non-contact groping motion enables to move the fingers along the object surface with keeping a constant distance, and to estimate the grasp stability before contacting the object. Motion experiments to various objects showed that the robot hand were able to approach to appropriate positions to grasp the objects independent on the shapes and surface textures. It is possible to plan approaching motions based on only visible area of the target object, and to minimize the sweeping volume of the fingers. Thus, the method is also expected to be available for bin-picking tasks in the industrial applications.

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