書誌事項
- タイトル別名
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- Tracking and Grasping of Moving Objects Based on Proximity Sensors Mounted on Fingertips of Multi-fingered Robot Hand
抄録
<p>In this paper, we propose a grasping strategy that grasps an approaching object whose position and shape are unknown using a robot hand and a robot arm equipped with a proximity sensor at the fingertip. As a grasping strategy, pregrasping, following, preshaping, and grasping motion necessary for grasping the moving object were created based on a torque control base, and the target joint torque output at the time of each motion was weighted and added. The robot hand and arm movement is generated by the output. It is thought that by gradually changing the weight of each motion in a series of grip control, seamless motion switching is possible, and an appropriate grasping motion is generated.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2020 (0), 1A1-G07-, 2020
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390567901498189568
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- NII論文ID
- 130007943303
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- ISSN
- 24243124
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- 本文言語コード
- ja
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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