リリース型マニピュレーションの研究 : 平面連動の基礎的解析と学習による位置決め精度の向上 (<小特集>ロボットの知能化)

概要

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In this paper, we propose a new kind of manipulation, the releasing manipulation. Releasing manipulation gives an object a certain initial velocity, allowing it to slide on a plane. The object stops at a certain position under the influence of friction. There are two problems which must be overcome to achieve this manipulation. (1) How much velocity is required to slide the object to a target position and orientation. (2) How to give the object initial velocity. We will show physical models describing the motion of the object to solve these problems. This manipulation makes use of environmental constraint such as friction between the object and the plane. Therefore it is strongly affected by uncertainty in the environment. As a result, the motion of the object should differ from that of models. In order to overcome this problem, we use robot learning, and ensure the efficiency of learning experimentally.
一般社団法人日本機械学会の論文
1996-10-25