人間型多指ハンドの開発および手探りによる未知物体の把握実験

DOI Web Site Web Site 被引用文献3件 参考文献11件

書誌事項

タイトル別名
  • Development of an Anthropomorphic Multi-Fingered Hand and Experiments on Grasping Unknown Objects by Groping.
  • ニンゲンガタ タシ ハンド ノ カイハツ オヨビ テサグリ ニ ヨル ミチ ブッタイ ノ ハアク ジッケン
公開日
1999
DOI
  • 10.1299/kikaic.65.4070
公開者
一般社団法人 日本機械学会

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説明

This paper addresses the development of at three-fingered anthropomorphic hand and discusses a strategy for grasping unknown objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has a thumb, an index finger and a middle finger with a total of nine degrees-of-freedom. The location of thumb is designed considering the opposability seen in a human hand. Eighty-seven touch sensors are distributed over the palm and fingers of this hand. In the latter part of this paper, a strategy for grasping unknown objects by groping, using the devoloped hand, is discussed. Groping is a kind of "active sensing". When the system does not have any models available for the objects to be grasped, active sensing becomes inevitable. The aim of the groping is to find at grasping configuration for the unknown objects. A ball, a can, a cone, at rectangular cube, and cube are chosen as the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of the objects nor any complicated computations, and therefore, is useful especially for tasks in the real world.

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