2A1-E08 触覚フィードバックを用いた柔軟紐の高速片手結び(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
In this study, we propose a strategy of knotting using a high-speed multifingered robot hand and tactile sensors. The strategy is divided to three steps: a loop generation, a replacement of ropes, and a pulling of a rope. Through these three steps, a knotting is achieved by only one multifingered hand. And, in order to allow the continuous motion, we have added one step: "a shift of rope". The experimental results are shown using the multifingered hand with tactile sensors. Finally, we analyze a behavior of the replacement of rope to produce a high rate of success.
一般社団法人日本機械学会の論文
2007-05-11