Object Manipulation Using Pneumatically Driven Soft Fingers with Polyurethane Bend Sensor
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- FUKUHARA Mizuki
- Ritsumeikan Univ.
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- MORI Yoshiki
- Ritsumeikan Univ.
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- KINBARA Yuho
- Mitsui Chemicals, Inc.
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- WADA Akira
- Ritsumeikan Univ.
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- MITSUZUKA Masahiko
- Ritsumeikan Univ.
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- TAJITSU Yoshiro
- Kansai Univ.
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- KAWAMURA Sadao
- Ritsumeikan Univ. Chitose Robotics Inc.
Bibliographic Information
- Other Title
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- ポリウレタン曲げセンサを有する空気圧駆動柔軟指を用いた物体操作の高度化
Abstract
<p>In this paper, we focus on pinching motion using soft fingers with polyurethane bend sensors. First, in order to unify the control time until the soft fingers touch the object to be grasped, trajectory tracking control was introduced and the control performance was evaluated. Control was possible with an error of about 0.2m−1. After realizing stable grasping by trajectory tracking control, we measured the relationship between the curvature difference of each finger and the orientation of the gripping object. Based on the above relationship, the orientation of the object was actually controlled. As a result, orientation control is possible with an error of about 1 degree.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (0), 1A1-J12-, 2020
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1391693801405036032
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- NII Article ID
- 130007943311
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed