Motion reproduction system of manipulating and grasping motion for grasping objects of unknown size

摘要

This is research for reproduction of human motion with position and force information of robots. In this research, manipulating and grasping motion of human motion is considered. In manipulating and grasping motion of a two-degree-of-freedom (two-DOF) motion reproduction system, size of grasping objects is important. Conventionally, motion reproduction has been achieved, if and only if the size of grasping objects in reproduction is equal to that in saving. Therefore, to solve this problem, a motion reproduction system that is tolerant of grasping objects of unknown size is presented. The validity is confirmed by experiments with the two-DOF system.