抄録
In the development of robotics technology, the studies on manipulators have been conducted widely. In our laboratory, it has been studied with a 9DOF redundant finger-arm robot system. In this paper, the yoyo manipulation by this system is adopted as a dynamic task with the limber motion of the human upper limbs. This paper also tries to realize the yoyo motion by only position control function of the robot system by using human skills without the yoyo dynamic model. First, human skills in the yoyo manipulation are extracted by measuring the yoyo operation of a human being with a motion capture system. Next, yoyo control algorithm is proposed to apply the skills to the robot, which is implemented to the robot system. Finally, by repeating the experiment, robotic control of the yoyo can be obtained using only force sensor and position control, without vision sensor and the yoyo dynamic model.
