抄録
Generally, teleoperation of a robot hand with a monocular camera has problems of lack of depth information and the occlusion occur. The operator misrecognizes the position and posture of the object, and the robot hand cannot grasp the object. In the paper, to solve this problem, we use a proximity sensor, which we have developed, attached to the palm of the robot hand. The operator is able to recognize the position and posture of the object by using the proximity sensor. In addition, autonomy control based on the sensor enables to adjust the position and posture of the robot hand. We integrate operator control with autonomy control. The number of success of grasping the object increases and an operation burden decreases.
