Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

This paper proposes a novel object manipulation method by a multifingered robotic hand with torsional fingertip joints. By using the unique joint configuration effectively, a dynamic object manipulation can be achieved without the use of any external sensing. Firstly, a dynamic equation of motion of the overall system considering contact models between each fingertip and objectsurface is given. Secondly, an externally sensorless control signal to grasp and manipulate the object is designed. A numerical simulation and an experiment using a prototype are performed, and then finally the effectiveness of proposed method is illustrated through a simulation and an experiment.

本文言語英語
ホスト出版物のタイトル2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"
出版社IEEE Computer Society
ページ469-471
ページ数3
ISBN(印刷版)9781457713613
DOI
出版ステータス出版済み - 1 1 2011
イベント22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation - Nagoya, 日本
継続期間: 11 6 201111 9 2011

出版物シリーズ

名前2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"

その他

その他22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation
Country日本
CityNagoya
Period11/6/1111/9/11

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering

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