ロボットハンドの構造・運動を考慮した操りスキルの統合に基づく結び目の生成計画

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概要

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• This paper demonstrates the relationship between the production process of a knot and robot hand skills. First, we define the descriptions (rope intersection and fixed position) of a knot. Next, the characteristics of the robot hand skills are clarified from viewpoint of the description of the knot. Then, in order to obtain the production process of knot, we propose an analysis method based on the structure of knot and the characteristics of the robot hand skills. And, we analyze various knots using the proposed analysis method. Finally, in order to validate the production process obtained by the proposed analysis method, an experimental result of half hitch is shown by using a high-speed multifingered hand system.

著者

• 山川 雄司

  Graduate School of Information Science and Technology, The University of Tokyo

• 下条 誠

  Department of Mechanical Engineering and Intelligent Systems, Univ. of Electro-Communications

• 並木 明夫

  Graduate School of Engineering, Chiba University

• 石川 正俊

  Graduate School of Information Science and Technology, The University of Tokyo

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• ロボットハンドの構造・運動を考慮した操りスキルの統合に基づく結び目の生成計画

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