書誌事項
- タイトル別名
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- Object Manipulation Using Pneumatically Driven Soft Fingers with Polyurethane Bend Sensor
抄録
<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>
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 2020 (0), 1A1-J12-, 2020
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
- 1391693801405036032
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- NII論文ID
- 130007943311
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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