2A2-C22 指先にネット状近接覚センサを装着したロボットハンド : 近接覚情報を利用した移動物体追従動作

概要

論文の詳細を見る
Because of occlusion, around several millimeters from grasping object, it was difficult for the method based on vision sensor to detect relative position between grasping object and the fingers of robot hand. To solve this problem, proximity sensor which detects the object in near range is very effective. In this research, we developed thin proximity sensor sheet and covered each finger of three-fingered robot hand with it. Then integrating these sensors and hand control system, we implemented object tracking controller. Using proximity sensory signals, this controller coordinates wrist position based on palm proximity sensors, and grasping posture from fingertip sensors. Therefore we realized tracking and capturing motion of moving objects.
一般社団法人日本機械学会の論文