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

本研究的目的是开发一种多指机械手，它具有物体抓取和操作的技能，不仅允许手指与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。所得结果的概要如下。（1）多指机械手先进抓取与操作的实现：（1.1）推导了多物体的动力抓取条件，提出了动力抓取条件的优化方法。（1.2）推导了多指手转动重物的动力学控制算法。并给出了实验结果。（1.3）提出了一种利用外力集优化抓取位置的方法，并通过数值算例验证了该方法的有效性。（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。（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。（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）对操作者和机器人的操作技能进行了分析：（2.1）为了观察人的操作技能，开发了一个基于虚拟任务空间的人的装配技能二维触觉模拟器。虚拟和真实的钉孔任务进行了比较。（2.2）开发了一种六自由度手指安装触觉装置，用于通过两个人的手指对物体进行一般操作。（2.3）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真实的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.