ケージングを利用した力制御を要しない双腕協調搬送

抄録

There are many studies on multi-arm cooperation. They usually require expensive force sensors and complicated force control. We focus on dual-arm cooperation using only position control. However, dual-arm cooperation without force control may cause excessive internal forces due to position error between two arms. To solve this problem, we propose the use of caging to constrain objects. Caging is a method of object constraining based on geometric information. It allows an object to move within the hands of arms. Caging enables arms to avoid excessive internal forces in position-controlled manipulation. This caging-based dual-arm cooperation was carried out successfully in some experiments.