1A1-J07 人間の手姿勢を考慮したハンド/アームロボットによる手渡し動作(ロボットハンドの機構と把持戦略(1))

抄録

This paper deals with a handover motion for the hand/arm robot. Handing over objects to humans is an important motion for service robots. The robot has to change a trajectory for handover without disturbing human's works. Therefore, we propose a handover motion control for the hand/arm robot according to the hand posture of humans. The robot estimates the hand posture with a motion sensing input device Kinect and moves upward from the palm of human's hand.