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

这项研究的目的是开发一种多指机械手，具有抓取和操纵物体的技能，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，还利用滑动和旋转接触。主要研究成果如下：(1)实现多指机械手的高级抓取和操纵：(1.1)推导了多目标动力抓取的条件，并提出了优化方法。(1.2)推导了重物枢转多指手的动力学控制算法。提出了一种基于摄像机位置信息的目标自适应抓取控制方法，并进行了初步实验。(1.4)提出了一种基于摄像机位置信息的目标自适应抓取控制方法，并进行了初步实验。(1.4)提出了一种基于摄像机位置信息的目标自适应抓取控制方法，并进行了初步实验。(1.4)提出了一种基于摄像机位置信息的目标自适应抓取控制方法，并进行了初步实验对操作者和机器人的操作技能进行了分析：(2.1)开发了一种基于虚拟任务空间观察人类装配技能的二维触觉模拟器来观察人类的装配技能。提出了机器人阻抗感知的概念，旨在建立一种对机器人末端执行器施加的约束进行实时感知的基本技术。

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.