書誌事項
- タイトル別名
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- Knotting Manipulation of a Flexible Rope Using a High-speed Multifingered Hand and High-speed Visual and Tactile Sensory Feedback
- コウソク タシ ハンド ト コウソクシ ショッカク フィードバック オ モチイタ ジュウナンチュウ ノ ムスビ ソウサ
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This paper proposes a new strategy for making knots with a high-speed multifingered robot hand with tactile sensors and visual sensor. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. In loop production, the wrist joint angle control is proposed by using visual feedback with high-speed visual sensor. In addition, the dynamics of the rope permutation are analyzed, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown using one high-speed multifingered hand with tactile and visual sensors.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 27 (9), 1016-1024, 2009
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726394880
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- NII論文ID
- 10026089645
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10498449
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可
