1A1-J03 外界センサレス動的物体操作手法の実験的検証(ロボットハンドの機構と把持戦略)

概要

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This paper presents an experimental verification of the externally sensorless dynamic object manipulation which has been proposed by us. This method enables robot to achieve stable object grasping and manipulation in dynamical sense without any external sensing. However, the effectiveness of the proposed method has been shown through only numerical simulations, so far. In this paper, a practical usefulness of the method is shown by an object manipulation experiment using a prototype. The prototype developed in this study has three fingers and each finger has 4 DOFs. By using this prototype, an experiment for stable object grasping with position and attitude control without any external sensing is conducted. Through this experimental result, the usefulness of our proposed method is demonstrated.
一般社団法人日本機械学会の論文
2011-05-26