Development of Multi-fingered Mechanical Hand Having Skill of Object Grasping and Manipulation with Sliding and Rotational Contacts,

开发具有滑动和旋转接触的物体抓取和操纵能力的多指机械手，

• 批准号: 13450103
• 负责人: TOSHIKAWA Tsuneo
• 金额: $ 8.64万
• 依托单位: Kyoto University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13450103/
• 关键词: robot hand; multi-fingered hand; grasping; manipulation; sliding contact; rolling contact; skill; 滑り

The purpose of this research is to develop a multi-fingered mechanical hand having skill of object grasping and manipulation not only allowing sliding and rotational contacts between the fingers and the object, 'but also, if possible, taking advantage of sliding and-rotational contacts. The, outline of the obtained results is as follows.(1)Realization'of advanced grasping and manipulation by multi-fingered mechanical hands:(1.1)Conditions for power grasps for multiple objects have been derived and a method of its optimization was proposed.(1.2)A dynamic control algorithm of multi-fingered hand for pivoting a heavy object was derived. An experimental result was also given.(1.3)An optimization method of grasping positions on an object by using a required external force set was proposed and numerical examples were given to show the validity of the approach.(1.4)A control method for adaptive grasping of objects based on position information from a camera was proposed and some preliminary experiments were performed.(1.4)A control method for adaptive grasping of objects based on position information from a camera was proposed and some preliminary experiments were performed.(1.4)A control method for adaptive grasping of objects based on position information from a camera was proposed and some preliminary experiments were performed.(2)Toward analysis of manipulation skill of human operator and robot:(2.1)A 2-dimensional haptic'simulator for observing human assembly skill using virtual task space was developed for observing the human skill. Virtual and real peg-in-hole tasks were compared.(2.2)A 6-dof finger-mounted haptic device was developed for general manipulation of an object by two human fingers.(2.3)The concept of impedance perception for robots was proposed aiming to build a basic technique for real time perception on the constraint imposed on the robot's end effector.

本研究的目的是开发一种具有物体抓取和操作技能的多指机械手，不仅允许手指和物体之间的滑动和旋转接触，而且如果可能的话，还可以利用滑动和旋转接触。所得结果的概要如下。(1)多指机械手高级抓取与操纵的实现：（1.1）推导了多指机械手抓取多物体的动力条件，并提出了一种优化方法。（1.2）推导了多指机械手旋转重物的动态控制算法。（1.4）提出了一种基于摄像机位置信息的物体自适应抓取控制方法，并进行了初步的实验研究。（1.4）提出了一种基于摄像机位置信息的物体自适应抓取控制方法，并给出了一种基于摄像机位置信息的物体自适应抓取控制方法（1.4）提出了一种基于摄像机位置信息的物体自适应抓取控制方法，并进行了初步实验。(2)针对人类操作者和机器人的操作技能分析：（2.1）开发了一种基于虚拟任务空间的观察人类装配技能的二维触觉模拟器，用于观察人类技能。（2.2）开发了一种六自由度的手指触觉装置，用于人类两根手指对物体的一般操作。（2.3）提出了机器人阻抗感知的概念，旨在建立基于机器人末端执行器约束的实时感知的基本技术。

项目成果

Tsuneo Yoshikawa: "Toward Observation of Human Assembly Skill Using Virtual Task Space"Experimental Robotics VIII(eds.B.Siciliano nd P.Dario), Springer. 540-549 (2003)

Tsuneo Yoshikawa：“利用虚拟任务空间观察人体组装技能”实验机器人 VIII（eds.B.Siciliano 和 P.Dario），Springer。

横小路泰義: "大きな通信時間遅れの下での直接バイラテラル制御による技術試験衛星VII型搭載ロボットアームの地上遠隔操作実験"日本ロボット学会誌. 21・3. 309-320 (2003)

横小路康义：“大通信时间延迟下使用直接双边控制的技术测试卫星 VII 上的机器人手臂的地面远程控制实验”日本机器人学会杂志 21・3（2003 年）。

Tsuneo Yoshikawa: "Skill Observation of Human Assembly Operation by Haptic Virtual Reality Technology"Proc. of the 32nd International Symposium on Robotics. 855-860 (2001)

吉川恒夫：“触觉虚拟现实技术对人体装配操作的技能观察”Proc.

T.Yoshikawa, T.Watanabe, M.Daito: "Optimization of Power Grasps for Multiple Objects"Proc. IEEE Int. Conf. on Robotics and Automation. 1786-1791 (2001)

T.Yoshikawa、T.Watanabe、M.Daito：“多物体动力抓取的优化”Proc。

T.Yoshikawa, T.Yamaguchi, M.Noguchi, M.Kawai: "Development of 6DOF Finger-mounted Haptic Device for Operation. with Two Fingers (in Japanese)"Journal of the Robotics Society of. Japan. 20-8. 893-899 (2002)

T.Yoshikawa、T.Yamaguchi、M.Noguchi、M.Kawai：“开发用于操作的 6DOF 手指安装触觉装置。用两个手指（日语）”机器人学会杂志。