1P1-H01 転がり接触を考慮した多指ハンド教示システム(ロボットハンドの機構と把持戦略(3))

Abstract

This paper is about a teaching system for a multi-fingered robot hand using kinetic information of a manipulated object with vision feedback. The proposal of this system is to operate a multi-fingered robot hand with high DOF intuitively and effectively. The system calculates a appropriate trajectory according to the kinetic information of the manipulated object under twist rolling contact constraint. This paper describes a revised algorithm of the trajectory generation and the results of experiments using the developed teaching system. The future works to be improved are discussed.