1A1-H12 力ベクトル分布情報に基づく物体の形状変化の識別(触覚と力覚)

概要

論文の詳細を見る
A shape variation of an object is important information to achieve a dexterous manipulation by robotic hand. We consider that detection of the shape variation is possible through measurement of force vector distribution. Shape variation of an object causes spread of uniform force vectors.In order to measure force vector distribution, the robotic hand was instrumented with vision-based tactile sensor developed by us. Using the robot hand, we have examined the method that detects the shape variation using force vector distribution. As it follows from the experimental result, the robotic hand is capable to detect the shape variation of clay. Therefore, proposed approach could allow us to drastically improve the robotic hand manipulation.
一般社団法人日本機械学会の論文
2008-06-06