2015年5月17日
1P2-N07 近接覚センサを用いたロボットハンドの遠隔操作システムの研究 : 操作者入力と自律制御の統合システムの提案
ロボティクス・メカトロニクス講演会講演概要集
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- ,
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- 巻
- 2015
- 号
- 開始ページ
- "1P2
- 終了ページ
- N07(1)"-"1P2-N07(4)"
- 記述言語
- 日本語
- 掲載種別
- 出版者・発行元
- 一般社団法人日本機械学会
Generally, teleoperation of a robot hand with a monocular camera has problems of lack of depth information and the occlusion occur. The operator misrecognizes the position and posture of the object, and the robot hand cannot grasp the object. In the paper, to solve this problem, we use a proximity sensor, which we have developed, attached to the palm of the robot hand. The operator is able to recognize the position and posture of the object by using the proximity sensor. In addition, autonomy control based on the sensor enables to adjust the position and posture of the robot hand. We integrate operator control with autonomy control. The number of success of grasping the object increases and an operation burden decreases.
- リンク情報
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- CiNii Articles
- http://ci.nii.ac.jp/naid/110010055034
- CiNii Books
- http://ci.nii.ac.jp/ncid/AA11902933
- ID情報
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- CiNii Articles ID : 110010055034
- CiNii Books ID : AA11902933