極限作業ロボットマニピュレータの設計法の研究 (その3)

―多感覚バイラテラル制御の設計法―

抄録

This paper proposes the design method of multiple sensory bilateral control for the fingered manipulator. Multiple sensory bilateral control integrates force sensors and tactile sensors information based on conventional bilateral control. It evaluates the finger shape control which is deeply effected in finger grasp operation using operator finger's vector. Designed system function is examined by solidity or shape recognition, and task execution experiment. It showed the multiple sensory bilateral control and its design method are approved.