20704 ジェンガブロック引き抜き操作のための理想的な力学モデルの提案(OS7 ロボティックス・メカトロニクス(4),オーガナイズドセッション)

抄録

In our study, our purpose is to give human dexterousness about force sense to robot and we use Jenga game as its target. This paper describes our strategic implementation how robot remove blocks from Jenga tower. At first, we suggest Jenga statics model. A block which can be removed most safely is chosen, using this model. Robot judges that it can remove a block and removes after measuring actual static force and comparing it with model's value.