A21 視覚サーボ制御に基づく多指ハンドによる道具の操り(OS3 ロボットのダイナミクスと制御2)

概要

論文の詳細を見る
In order to achieve a skillful handling like a human hand, it is necessary that a hand has a capability to manipulate tools. One important problem of tool handling with a multifingered hand is that relative positions among a robot hand, a tool and a handled object change during the handling. For this reason, it is necessary to measure the relative positions in realtime, and to control a hand so as to cancel the changes. In our research, we have resolved this problem by using a high speed visual servoing and a passive joint model. Using the passive joint model, dexterous and flexible tool handling is achieved. In this paper, as an example, a tweezers is handled by a multifingered hand. A new method to control tools and some experiment results are shown.
2009-09-01