Peg-in-hole under state uncertainties via a passive wrist joint with push-activate-rotation function
Peg-in-hole under state uncertainties via a passive wrist joint with push-activate-rotation function
复制标题
通过具有推动-激活-旋转功能的被动腕关节在状态不确定性下进行钉入孔
DOI：
10.1109/humanoids.2017.8239539
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Tetsuyou Watanabe
中科院分区：
文献类型：
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作者：
Toshihiro Nishimura;Yosuke Suzuki;Tokuo Tsuji;Tetsuyou Watanabe
这项研究提出了一种新型被动腕关节，具有用于孔中钉组件的推动-激活-旋转（PAR）功能，以及利用手腕的被动性和固有功能的策略。 PAR 功能涉及绕垂直轴旋转，通过沿垂直方向推动手腕自动激活。该方法的新颖特点是：1）基于硬件的被动柔量吸收了挂钉状态的不确定性，2）机械手部分不需要主动旋转关节，3）不使用 F/T 传感器；相反，IMU 传感器是，并且 4) 栓或孔有多种形状可用，例如矩形、圆形、六角形和三棱柱。通过多次实验证明了该方法的有效性。
This study presents a novel passive wrist joint with push-activate-rotation (PAR) functionality for a peg-in-hole assembly and a strategy utilizing the passivity and inherent functionality of the wrist. The PAR function involves rotation around a vertical axis, automatically activated by pushing the wrist in the vertical direction. The novel features of the approach are that 1)hardware based passive compliance absorbs uncertainties of the states for the peg, 2) no active rotational joints are required for the manipulator part, 3) F/T sensors are not used; instead, an IMU sensor is, and 4) multiple shapes for the peg or hole are available e.g., rectangular, circular, hexagonal, and triangular prisms. The validity of the approach is shown via several experiments.