finger gait planning method of robotic hands and finger gait planning apparatus of robotic hands

摘要

Use the static equilibrium conditions for the fingers of a hand gripping a robot moving to a new wave existing point presents a gripping device and operation method of a robot hand that is to be performed in a more simple operation compared to the method. The operation of the robot hand is gripping presented generate a candidate set that includes the candidate state when removing the object from the binary one gripping robot hand of each of the objects of the other fingers, except for the finger to move out of a plurality of fingers, and, on the state candidate After calculating a supporting area, by selecting the finger moves from the rest of the finger on the basis of the supporting region is moved to the target direction. The fingers of the robot hand with a simpler operation than the conventional method it is possible to move to a new gripping point. Supporting areas, and reliability by using your finger to move the margin select gate operations carried out by the finger (finger gait planning) and moved to a new spot by far, is very simple compared to the conventional method that uses a complex algorithm. ;