両腕協調動作生成システムを用いたタンブリング操作タスクの安定性改善

Abstract

This paper proposes a method to improve the stability during a tumbling task with a motion generation system with bimanual coordination. We assume that the tumbling tasks, in which a subject tilts an object, are conducted with both a healthy subject's hand and a prosthetic hand in order to realize moving a large object by pivoting, which is one of graspless manipulation. We employed the adaptive admittance control proposed by Dimeas et al. We demonstrated the tumbling experiment in which one hand of a Baxter was used in place of a prosthetic hand. As a preliminary study, we used the admittance control with fixed parameters and then showed that the oscillation of the robotic hand was reduced in the tumbling experiment at the frequencies 0.125 [Hz] or 0.25 [Hz].