2A1-E04 進化計算を用いたユニバーサルロボットハンドの操り動作最適化(ロボットハンドの機構と把握戦略)

概要

論文の詳細を見る
Human hand is a multifunctional end effctor which is widely used for various purposes. The purpose of our study is to realize dexterous manipulation task with universal robot hand system which has the same capability as human hand. In this report, we propose the strategy to hold object and technique of optimize the torque or pressure value. In the evaluation experiments, the system could rotate the wheel object dexterously.
一般社団法人日本機械学会の論文
2007-05-11