A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness

Taisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology.

本文言語English
ホスト出版物のタイトル2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
ページ288-293
ページ数6
DOI
出版ステータスPublished - 2010 12 1
イベント2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
継続期間: 2010 12 62010 12 8

出版物シリーズ

名前2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Conference

Conference2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
国/地域United States
CityNashville, TN
Period10/12/610/12/8

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用

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