NDLI: Sensory Feedback Attitude Control for an Arbitrary Polyhedral Object by a Multi-Fingered Hand-Arm System

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Sensory Feedback Attitude Control for an Arbitrary Polyhedral Object by a Multi-Fingered Hand-Arm System

Content Provider	Semantic Scholar
Author	Kawamura, Akihiro Tahara, Kenji Kurazume, Ryo Hasegawa, Tsutomu
Copyright Year	2012
Abstract	これまでに,多指ロボットハンドを用いた物体把持・操作に関する研究が数多く行われている [1]~[4].例えば Arimotoら [5] は,物体の詳細な形状や質量中心位置,指先接触点位置などの情報を必要とせず,また指先と物体との間の転がり拘束を考慮した,動的な物体把持手法を提案している.本手法は現在の指先位置の情報のみで未知物体の安定把持を実現しており,システム全体の収束性も理論的に保証されているが,把持物体は平行な 2平面を有した形状に限定されていた. 一方,多関節アームの先端にロボットハンドを取り付けたハンドアームシステムは,手先部分と腕部分の協調動作により, 人の手・腕と同様な器用な物体操作が実現できる [6]~[8].大西らはハンド部とアーム部を独立した系と見なし,それぞれに応じた制御系を与えることで,全体として協調動作を実現しているが [6],ハンド部とアーム部の役割決定に明確な指針はなく, 設計者の主観によって決定されている.一方,Nagaiらや Bae らは,ハンドアームシステムを統一的な系と捉えた制御系を構築している [7] [8].Nagaiら [7]は,把持物体およびアーム先端
Starting Page	72
Ending Page	83
Page Count	12
File Format	PDF HTM / HTML
DOI	10.7210/jrsj.30.72
Volume Number	30
Alternate Webpage(s)	http://fortune.ait.kyushu-u.ac.jp/~kurazume/papers/JRSJ12-1.pdf
Alternate Webpage(s)	https://doi.org/10.7210/jrsj.30.72
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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