近接覚センサを搭載した多指ロボットハンドによる局所形状計測と把持安定性予測

抄録

In this study, we develop a method to predict the grasping stability by proximity-based local shape sensing from the fingertips of a multi-fingered multi-joint robot during the grasping approach process. In this paper, we first describe the improvement of the detection range of the spherical-shaped proximity sensor and the addition of a transparent coating to enable distance and orientation estimation even if the distance is 0 mm. Next, we create a calibration table for the improved sensor to estimate the nearest point, and show that the distance and azimuth angles of the nearest point can be obtained with high accuracy. In addition, we show that it is possible to predict the grasp stability qualitatively, and discuss the issues related to the local shape estimation.