神経振動子を利用したロボットハンドによるマニピュレーション : 人間計測に基づく操作パターンの生成(機械力学,計測,自動制御)

概要

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A number of researches for the dextrous manipulation have been studied in robotics and physiologic fields independently. Multi-fingered manipulation for dextrous robot hands should be based on the analysis of human skills. The purpose of this study is to apply the CPG-based control to the dextrous manipulation. In this paper, CPG-based manipulation is proposed for the rotating manipulation. Manipulation patterns of fingers are investigated when a subject rotates a cylindrical object. Typical contact patterns during the rotating manipulation are measured by FSRs. Based on the observation, the neural circuit model which generates a similar contact pattern is constructed. The experimental results by the computer simulation suggest that rotating manipulation can be performed using the constructed CPG model.
一般社団法人日本機械学会の論文
2004-11-25