ロボットハンドと対象物の接触回避を目的とした力学系に基づく把持アプローチ軌道修正による遠隔操作支援

抄録

This paper presents a dynamical system based approach to assistive teleoperation for object grasping. According to the target position and the current user input, a virtual desired goal is generated for a stable dynamical system via linear interpolation. In order to achieve collision avoidance between the target object and the robot finger, a virtual force is generated as an input to the dynamical system for online trajectory modification. Experimental results of an object grasping task are presented to demonstrate the effectiveness of the proposed assistive approach in a simulated robot teleoperation system.