書誌事項
- タイトル別名
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- 2A1-F04 Non-Jacobian Control for Object Orientation Grasped by a Two-fingered Robotic Hand
抄録
This paper proposes a new two-fingered robotic hand that consists of a 3 degrees-of-freedom link structure for the index finger and a 2 degrees-of-freedom link structure for the thumb. The index finger is designed so that the distal two links move with maintaining their mechanically coupled movement, for which a rubber round belt is placed between two pulleys like a figure-eight structure. This system has four DC motors in each finger, and the two of the motors activate a finger joint antagonistically. By using the proposed robotic finger, we demonstrate that the orientation control of a grasped object can be achieved with using no Jacobian matrices and no grasping forces that had been required in conventional robotic applications.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _2A1-F04_1-_2A1-F04_2, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205934213888
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- NII論文ID
- 110008741791
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- ISSN
- 24243124
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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
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可