システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
論文
タスク指向型ソフトウェアシナジーを実現する多指ハンド制御システムの検証
東 和樹小澤 隆太永田 和之万 偉偉原田 研介
著者情報
ジャーナル オープンアクセス

2019 年 32 巻 5 号 p. 218-226

詳細
抄録

This paper proposes a concept of the task-oriented software synergy (TOSS) for anthropomorphic hands and designs a control system of multi-fingered hand that realizes TOSS. By using TOSS, we can perform various tasks with fewer principal components than those of conventional synergies by switching synergy corresponding to each task. We show that TOSS can be realized with lower approximation error and higher contribution rate than the conventional synergy for a given task. Moreover, we verified through physics simulation that an adverse effect of dimensionality reduction is smaller than conventional synergy. These results show that, by using TOSS, we can properly perform various tasks with fewer inputs.

著者関連情報
© 2019 一般社団法人 システム制御情報学会
前の記事
feedback
Top