2A2-B22 接触情報を利用した位置・力制御の切替によるロボットハンド遠隔操作

概要

論文の詳細を見る
Humanoid robot hand controled with teleoperation is expected that it will be able to work at various situation such as remote medical care and extreme environment. The purpose of our study is to realize dexterous manipulation task with teleoperated humanoid robot hand system. In this report, we propose a switch strategy of motion control of robot hand using contact condition and presentation of contact sensation of robot hand to an teleoperator. In some evaluation experiments, the teleoperator could control the fingertip force and feel the contact sensation of the robot hand.
一般社団法人日本機械学会の論文
2009-05-25