ロボットハンドの知能化を目的とした階層的情報処理を行う近接覚センサシステムの開発

抄録

In the previous research, a method to correct on grasping position/posture error on a vision sensor was proposed in grasping tasks with a robotic hand using a proximity sensor mounted on each of the fingertips. However, depending on color and shape of an object and surrounding environment, a position/posture suitable for grasping may not be achieved in some cases. Therefore, in this research, we develop a hierarchical information processing sensor system integrating a processing system that extracts only limited information from the proximity sensor output at high speed and a processing system capable of analyzing a lot of information although it takes time. It is expected that a feedback action itself and the subsequent grasping action can be appropriately made according to an object and surrounding environment from the information obtained in a process while performing the conventional feedback.