ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-B08
会議情報
1A2-B08 触覚センサを用いた多指ハンドの接触力制御 : 触覚フィードバックによる多点接触力制御(触覚と力覚)
溝口 善智郡司 大輔明 愛国並木 明夫石川 正俊下条 誠
著者情報
会議録・要旨集 フリー

詳細
抄録
Handling behavior of human can be divided into Pinching and Grasping. In multi-fingered robot hand, wrapping grasp which permits the object to contact with the finger link other than the tip of finger, or palm is called Power grasp. The interaction with the tactile sensor is indispensable for the achievement of Power grasp to and unknown object with the multi-fingered robot hand. In this study, for the achievement of Power grasp operation which doesn't depend on the grasping object wit the multi-fingered robot hand, we propose a method for multi-point contact force control in inside of the finger by tactile sensor feedback without information of the grasping object and verify the proposed method by the experiment.
著者関連情報
© 2007 一般社団法人 日本機械学会
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