変形しやすい管状物体の挿入作業における人間の運動と作業状態識別則のロボットマニピュレータへの移植

概要

論文の詳細を見る
A human-demonstration based approach to the object motion design and the recognition of process state transitions in the insertion of a deformable tube is presented. First, human demonstration during the insertion of a deformable hose into a rigid plug is measured by use of a position sensor and a force sensor. Secondly, the measurements are analyzed with regard to the process states during the insertion. Human motion and recognition laws to detect process state transitions from force sensation are then extracted through the analysis of human demonstration. Finally, human motion during the insertion is transplanted to a mechanical manipulator to examine whether the human recognition laws are useful or not for the insertion performed by a mechanical manipulator.
社団法人日本ロボット学会の論文
1997-11-15