多指多関節ハンドロボットのハンド可操作性に基づくバーチャル教示

抄録

This paper presents a virtual teaching method for multi-fingered robots based on hand manipulability, in which a position and orientation of the robot hand is determined so as to maximize a manipulability of the robot hand on the condition that the robot grasps the object at taught contact points of the object. In order to get the finger joint angles in movable range, a penalty function is added to the manipulability measure. This approach does not require the accurate human hand model. The simulation results of a pick-and-place task are shown.