ヒトによるコイン形状対象物把握動作の解析

概要

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Multi-fingered robot hands have the potential capability of manipulating an object dexterously that is comparable with a human hand. While both theory and hardware have been extremely advanced during the last two decades, we can not yet see the situation where multi-fingered robot hands work practically in various environments. In this paper, we focus on a coin shaped object that it is difficult for even a human to grasp it from the surface of the table. Based on the observation of grasping motions by human, we had found out ten grasping patterns. We had shown a guideline-map for choosing the most appropriate strategy according to the environment where the coin shaped object is placed. We had also analyzed the sliding and the rotating motion in detail by using image measurement.
鈴鹿工業高等専門学校の論文
2007-02-28