Publication Date:
2012-09-09
Description:
Although a number of multi-fingered robot hands have been developed, none of these hands is in actual use. One reason for this is that conventional control methods are not useful for multi-fingered robot hands. A human manipulates an object using tactile information (contact points, direction, and severity of reaction force). In the present paper, a tactile-based control method for multi-fingered robot hands, which mimics human manipulation, is proposed. In the proposed method, three fingers are used for object manipulation, and object grasping and manipulation is achieved. The proposed method is implemented in Universal Robot Hand II, and its effectiveness is verified. Content Type Journal Article Pages 1055-1061 DOI 10.3233/JAE-2012-1578 Authors Wataru Fukui, Kobe University, Kobe, Japan Futoshi Kobayashi, Kobe University, Kobe, Japan Fumio Kojima, Kobe University, Kobe, Japan Hiroyuki Nakamoto, Kobe University, Kobe, Japan Tadashi Maeda, Maeda Precision Manufacturing Limited Kobe, Kobe, Japan Nobuaki Imamura, Hiroshima International University, Kure, Japan Kazuhiro Sasabe, The Kansai Electric Power Company Inc., Amagasaki, Japan Hidenori Shirasawa, The Advanced Materials Processing Institute Kinki Japan, Amagasaki, Japan Journal International Journal of Applied Electromagnetics and Mechanics Online ISSN 1875-8800 Print ISSN 1383-5416 Journal Volume Volume 39 Journal Issue Volume 39, Number 1-4 / 2012
Print ISSN:
1383-5416
Electronic ISSN:
1875-8800
Topics:
Electrical Engineering, Measurement and Control Technology
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Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
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