1P1-H02 把持物体の位置・姿勢情報欠損にロバストな視覚サーボによる物体把持・操作手法の実験的検証(ロボットハンドの機構と把持戦略(3))

研究成果: Contribution to journalArticle


In this paper, experimental results of the visual servoing method proposed by us are shown to verify the robustness against temporary loss of visual information. The visual servoing method proposed in our previous work achieves stable grasping and manipulation of an object even if visual information becomes suddenly unavailable during manipulation. However, its effectiveness has only been shown by several numerical simulations. Thus, experiments are conducted using a mechanical hand, and its practical usefulness is verified in this paper. The experimental system consists of three fingers in which each finger has 4DOFs. Position and attitude control of a grasped object with temporary loss of the visual information during manipulation are conducted, and its practical usefulness is demonstrated through the experimental results.
寄稿の翻訳タイトル1P1-H02 Experimental Verification of Robust Visual Servoing for Object Manipulation with Temporary Loss of Visual Information(Robot Hand Mechanism and Grasping Strategy (3))
出版ステータス出版済み - 2012

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