Grasp Control for a Multifingered Hand with Kinematic Redundancy : Experiments on Stable Grasp by the Direct Compliance Control Method
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概要
- 論文の詳細を見る
This paper proposes stable grasp by a robot hand with articulated fingers, each of which has kinematic redundancy. To achieve a stable grasp by such a hand, the following two problems must be considered: ( 1 ) the stability of the grasped object and ( 2 ) the stability of the finger posture. We first formulate the stability of the grasped object by introducing virtual springs at each fingertip. Secondly, we use the direct compliance control (DCC) method to achieve the stability of the finger posture, in which the stiffness (or compliance) at each fingertip is controlled by adjusting the stiffness independently arranged at each joint with satisfaction of the stability condition for the finger posture. Finally, the effectiveness of the proposed method is confirmed experimentally using a two-fingered plane hand with three-jointed fingers.
- 一般社団法人日本機械学会の論文
- 1990-12-15
著者
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Tanie K
Department Of Robotics Mechanical Engineering Laboratory Aist Miti
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Tanie Kazuo
Mechanical Engineering Laboratory
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Maekawa Hitoshi
Mechanical Engineering Laboratory
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Tanie K
Mechanical Engineering Laboratory
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Yokoi Kazuhito
Department of Robotics Mechanical Engineering Laboratory, AIST, MITI
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Imamura Nobuaki
Shinko Research Co., Ltd.
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KANEKO Makoto
Mechanical Engineering Laboratory
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YOKOI Kazuhito
Mechanical Engineering Laboratory
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IMAMURA Nobuaki
Kobe Steel Ltd.
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Yokoi Kazuhito
Department Of Robotics Mechanical Engineering Laboratory Aist Miti
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Imamura Nobuaki
Shinko Research Co. Ltd.
関連論文
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- Grasp Control for a Multifingered Hand with Kinematic Redundancy : Experiments on Stable Grasp by the Direct Compliance Control Method
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