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Development of an Anthropomorphic Multi-Fingered Hand and Experiments on Grasping Unknown Objects by Groping

机译:拟人化多指手的开发及通过摸索来抓取未知物体的实验

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摘要

This paper addresses the devclopment of a three fingrered anthropomorphic hand and discusses a strategy for grasping unknown objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has a thumb, an index finger and a middle finger with a total of nine degrees of freedom. The location of thumb is designed considering the opposability seen in a human hand. Eighty seven touch sensors are distributed over the palm and fingers of this hand. In the latter part of this 1)aper, a strategy for grasping unknown objects by groping, using the devoloped hand, is discussed. Groping is a kind of "active sensing". When the system does not have any models available for the objects to be grasped, active sensing becomes inevitable. The aim of the groping is to find a grasping contiguration for the unknown objects. A ball, a can, a cone, a rectangular cube, and cube are chosen as the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of the objects norany complicateed computations, and therefore, is useful especially for tasks in the real world.
机译:本文讨论了三只手指状拟人化手的发展,并讨论了通过摸索来抓取未知物体的策略。在本文的前半部分,介绍了已开发的机械手的设计。机械手的拇指,食指和中指总共具有9个自由度。设计拇指的位置时要考虑到人手的可对手性。这只手的手掌和手指上分布着八十七个触摸传感器。在本教程的后半部分,我们讨论了一种使用腐烂的手通过摸索来抓取未知物体的策略。摸索是一种“主动感应”。当系统没有任何可用于抓取对象的模型时,主动感应就变得不可避免。摸索的目的是找到未知物体的抓握区域。在实验中,将球,罐,圆锥,矩形立方体和立方体选作未知对象。实验结果证明了该策略能够捕获未知对象的能力。这种策略既不需要对象的模型,也不需要任何复杂的计算,因此特别适用于现实世界中的任务。

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