このエントリーをはてなブックマークに追加
ID 14197
本文ファイル
著者
Kaneko, Makoto
Shirai, Tatsuya
キーワード
Grasping strategy
multifingered robot hand
scale-dependent grasp
NDC
機械工学
抄録(英)
This paper discusses the scale-dependent grasp.Suppose that a human approaches an object initially placed on atable and finally achieves an enveloping grasp. Under such initialand final conditions, he (or she) unconsciously changes the graspstrategy according to the size of objects, even though they havesimilar geometry. We call the grasp planning the scale-dependentgrasp. We find that grasp patterns are also changed according tothe surface friction and the geometry of cross section in additionto the scale of object. Focusing on column objects, we first classifythe grasp patterns and extract the essential motions so that we canconstruct grasp strategies applicable to multifingered robot hands.The grasp strategies constructed for robot hands are verified byexperiments. We also consider how a robot hand can recognizethe failure mode and how it can switch from one to another.
掲載誌名
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
30巻
6号
開始ページ
806
終了ページ
816
出版年月日
2000
出版者
IEEE
ISSN
1083-4427
出版者DOI
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
権利情報
Copyright (c) 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
関連情報URL(IsVersionOf)
http://dx.doi.org/10.1109/3468.895903
部局名
工学研究科