書誌事項
- タイトル別名
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- Grasp Planning for Multi-Fingered Hands Based on Rectangular Convex Models(Mechanical Systems)
- 直方体モデルに基づく多指ハンドの把握計画
- チョクホウタイ モデル ニ モトズク タシ ハンド ノ ハアク ケイカク
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抄録
This paper discusses the grasp planning for a multifingered hand attached at the tip of a humanoid robot's arm. Different from previous methods on grasp planning, we use the reculangular convex models for both the object and the hand grasping region. By using these models, we provide heuristic methods for determining both a grasping style and nominal position/orientation of the palm. With this method, we can easily obtain the nominal position/orientation of the palm. The final grasping posture can be obtained by testing the force closure just around the nominal position/orientation of the palm. We will show the effectiveness of the proposed method by using several numerical examples. Also, by using the four-fingered hand and the stereo vision system both equipped with the humanoid robot HRP-3P, we will perform the experiment of grasping an object.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 76 (762), 331-339, 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
- 1390282681363207552
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- NII論文ID
- 110007574837
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 10599459
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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
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可