Stable Grasp and Manipulation in 3D Space with a 2-Soft-Fingered Robot Hand
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- Yoshikawa Tsuneo
- Ritsumeikan University
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- Koeda Masanao
- Ritsumeikan University
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- Fukuchi Haruki
- Ritsumeikan University
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- Hirakawa Atsushi
- Kyoto University (Currentrly with DENSO CORPORATION)
Bibliographic Information
- Other Title
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- 柔軟表皮をもつ2本指ロボットハンドによる3次元空間での安定な把持操り作業
Description
This paper proposes a control method for a 2-soft-fingered robot hand to grasp and manipulate objects stably and presents experimental results to show the validity of the proposed method. The method not only keeps positional stability of manipulation using a position based control but also controls fingertip contact force with reasonable accuracy taking the elasticity of the soft skin of the fingers into consideration.
Journal
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- Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
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Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers SCI06 (0), 173-173, 2006
The Institute of Systems, Control and Information Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001205623273856
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- NII Article ID
- 130004667780
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- Data Source
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- JaLC
- CiNii Articles
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- Abstract License Flag
- Disallowed