書誌事項
- タイトル別名
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- Investigation of How to Grip Objects Using Dual Robot Arms with Parallel Gripper
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説明
To grip various objects indoors by a robot, it was investigated how many kinds of object on a desk are handled and how they are gripped in a human life, in which a subject with wearable camera records images for 30 days. It was proven that not more than hundred kinds of objects are handled in gripping ways corresponding to the shape and size of each object. They were classified to 9 categories. Hands of human subject were restricted so that they only act like parallel grippers. According to the gripping way of restricted hands, categorization was revised to 12 categories. To cope with all categorized objects, the gripping methods were proposed for dual robot arms equipped with parallel grippers. It was preliminarily proven that the proposed method has potential for practical robot arms to grip all categories of objects mentioned above.
収録刊行物
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- 精密工学会誌
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精密工学会誌 84 (1), 70-76, 2018-01-05
公益社団法人 精密工学会
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詳細情報 詳細情報について
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- CRID
- 1390001204830084608
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- NII論文ID
- 130006301968
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- ISSN
- 1882675X
- 09120289
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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
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可