1A1-I09 把持力安定化手法を用いたロボットハンド遠隔把持操作(ロボットハンドの機構と把持戦略)

概要

論文の詳細を見る
The development of the robot industry has a remarkable. In the field of various industries, a robot working in place of human is expected. Therefore, we have developed a small and five-fingered robot hand like a human hand. Then, we built the master-slave teleoperation system in order to work various tasks. However, there is problem in simple teleoperation systems to do the pinching task with stability. The problem is not to have the sense that the operator actually grasps. It makes instability of grip force and the problem that the pinching task cannot be done with stability. In this paper, we propose a teleoperation system that used the grip force stabilization method. Here, the grip force stabilization method is used for moving in the direction where the change in the external force is cancelled. We show the effectiveness of the suggestion method by experiment.
一般社団法人日本機械学会の論文
2011-05-26