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Shape Classification in Rotating Manipulation by Universal Robot Hand-Local Shape Classification of Object using DP Matching
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- NAKAMOTO Hiroyuki
- Hyogo Prefectural Institute of Technology Graduate School of Engineering, Kobe University
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- KOBAYASHI Futoshi
- Graduate School of Engineering, Kobe University
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- IMAMURA Nobuaki
- Department of Mechanics and Robotics, Faculty of Engineering, Hiroshima International University
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- SHIRASAWA Hidenori
- the Advanced Materials Processing Institute Kinki Japan
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- KOJIMA Fumio
- Graduate School of Engineering, Kobe University
Bibliographic Information
- Other Title
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- ユニバーサルロボットハンドによる回転操作中の形状識別―DPマッチングを用いた対象物の局所形状識別
- ユニバーサル ロボット ハンド ニ ヨル カイテン ソウサチュウ ノ ケイジョウ シキベツ DP マッチング オ モチイタ タイショウブツ ノ キョクショ ケイジョウ シキベツ
- Local Shape Classification of Object using DP Matching
- DPマッチングを用いた対象物の局所形状識別
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Description
We propose a method of shape classification in rotating manipulation by a multi-fingered robot hand. A multi-fingered robot hand understands position and posture of a object and can realize suitable manipulations by classifying a shape of contact surface in rotating manipulation. Our method uses pressure distributed sensors equipped in fingers and consists of the following three processes. First, periodic pressure distributions are measured by a pressure distributed sensor in rotating manipulation. A kurtosis is calculated from each pressure distribution and can quantify a shape of contact surface in the moment. Secondly, a kurtosis pattern is cut out from a periodic kurtosis. Finally, a degree of similarity calculates between a kurtosis pattern and a reference pattern by DP matching method and classifies the shape of contact surface using thresholds. We confirm that our method classifies three objects with a high degree of accuracy and can keep the classification rate even in changing rotation velocity through laboratory experiments.
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 21 (7), 219-225, 2008
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Keywords
Details 詳細情報について
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- CRID
- 1390001205164737280
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- NII Article ID
- 10021850457
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 9566923
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- Text Lang
- ja
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- Article Type
- journal article
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- Data Source
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- JaLC
- NDL Search
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed