2A2-J08 薄型ネット状近接覚センサを装着したロボットハンド指先の開発と特性評価 : 手先に対し相対的に移動する把持対象物への追従制御

概要

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This paper describes the fingertip of robot hand covered with network-form proximity sensor that we developed. As background, because of occlusion, around several millimeters from grasping object it was difficult for the method based on vision sensor to detect relational position between grasping object and the fingers of robot hand. Therefore, introduction of proximity sensor which senses the distance of the object is very effective. In order to realize this sort of sensor, we analyzed and designed the net structure proximity sensor when using miniature reflective sensor. Then we manufactured the fingertip covered with thin proximity sensor sheet. It has been confirmed that this prototype can realize the basic performance required for grasping of robot hand.
一般社団法人日本機械学会の論文
2009-05-25