F-1204 複数対象物の押し作業計画(J27-1 バイオメカトロニクス・バイオロボットの要素技術・理論とシステム化技術(1))(J27 バイオメカトロニクス・バイオロボットの要素技術・理論とシステム化技術)

概要

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This paper discusses the pushing manipulation for multiple objects placed on a table. After considering advantageous situations for handling multiple objects simultaneously through the experiments by human subjects, we derive the pusher's velocity where each object can maintain the contact with the other object. By considering the contact force at the zero moment point, the region of the pusher's velocity where contacts are maintained can be obtained geometrically and in a very simple form. Furthermore, we show a method for trajectory planning for the pushing manipulation of multiple objects where the multiple objects placed on a table are moved to the desired position and orientation.
一般社団法人日本機械学会の論文
2001-08-22