The aim of this research is to develop a direct teaching system for multifingered robot hand to reproduce in-hand manipulation demonstrated by an human operator. A recognition method by observing contact state transition on a palm surface is described to detect primitives of in-hand manipulation. Dynamic programming (DP) matching is applied to recognize the primitives. The direct teaching system is developed consisting of an object with multiple sensors and a multi-fingered robot hand "NAIST-hand" developed by our group. By taking a barcode scanning task as an example, an experiment is conducted to demonstrate the validity of the developed system.
展开▼
