1A2-B07 滑り検出に基づく多指ハンドの把持力制御(触覚と力覚)

概要

論文の詳細を見る
To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for controlling grasping force of multi-fingered robot hand based on slip detection using the Center of Pressure(CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load within 1ms. With the CoP sensor, incipient slip can be detected as the sensor force output signal change before the slip displacement occurs. We propose a method for controlling grasping force based on slip detectionand. It is confirmed that the grasping force can be adjusted to adequate force on the robot hand grasping with the proposed method.
一般社団法人日本機械学会の論文
2007-05-11