1P1-A09 スキル統合に基づく結び操作と多指ハンドによる実現(ロボットハンドの機構と把持戦略)

概要

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This paper illustrates the relationship between the knotting process and robot hand skills. To extract a necessary hand skill for knotting, the knotting motion by human is analyzed. As a result, loop production, rope permutation, and rope pulling are extracted. Moreover, taking the handling of both ends of a rope into account, rope moving is added. Then, the characteristics of these skills are clarified from viewpoint of the intersection description. Based on the analysis of knot and the characteristics of robot hand skill, the knotting process is described. Finally, the experimental results are shown by using a high-speed multifingered hand system.
一般社団法人日本機械学会の論文
2008-06-06