Development of multi-functional robot hand for multi-legged robot
Development of multi-functional robot hand for multi-legged robot
复制标题
多足机器人多功能机械手的研制
DOI：
10.1109/robio.2016.7866325
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
T. Arai
中科院分区：
文献类型：
--
作者：
R. Akiyama;K. Kamiyama;M. Kojima;M. Horade;Y. Mae;T. Arai
近年来，已经研究和开发了各种机器人。作为其中的一部分，在危险场所工作的机器人越来越受到人们的关注。危险场所主要包括室外不规则的地面或狭窄的地方，因此需要机器人具有较高的移动能力。此外，它还需要像人类一样高的操作能力。为了满足这些需求，多足机器人是合适的。在本文中，我们设计了一个机器人手视觉检测配备了三维力传感器。所设计的手附着在多足机器人的腿尖上。此外，原型的评价报告。机器人手之所以被装备到多足机器人的末端，是因为它能满足以下四个要求。首先，手系统可以抓住一个小的物体，如螺栓和电线。其次，一个小型摄像头被安装在手内，用于目视检查。第三，手作为ASTERISK的腿点。最后，手可以具备三维力传感能力。通过实验验证了所研制的机械手能够满足这四个方面的要求。
In recent years, various robots have been researched and developed. As a part of them, robots working in dangerous place for human beings are attracted attention. The dangerous places include the outdoor irregular ground or the narrow place mainly, so the robots need to have high moving ability. In addition, It also requires high operational ability as same as human. To satisfying these necessities, multi-legged robots are suitable. In this paper, we design a robot hand for visual inspection equipped with three dimensional force sensing. The designed hand is attached to the tip of legs of multi-legged robot. Furthermore evaluation of a prototype is reported. The reason for the robot hand to be equipped to the tip of multi-legged robot is that it could meet following four requirements. Firstly, the hand system can catch a small object such as bolts and wires. Secondly, a small camera is attached inside the hand for visual inspection. Thirdly, the hand is functioned as a leg point of ASTERISK. Lastly, the hand can equip three dimensional force sensing ability. The developed hand is confirmed to meets these four requirements through the experiments.
影响因子：
1.6
作者：
Saga, Satoshi;Kajimoto, Hiroyuki;Tachi, Susumu
通讯作者：
Tachi, Susumu
影响因子：
1.8
作者：
Kamiyama, K;Vlack, K;Tachi, S
通讯作者：
Tachi, S