Control and Signal Processing for Multi-fingered Dual-arm Robots to Realize Dexterous Manipulations

本研究取得的成果如下：(1)从理论上阐明了多指手抓取(三维情况)的稳定性条件，提出了搜索最优抓取位置和抓力的判定方法。(2)应用具有上臂尺寸的曲面触觉传感器引导护理机器人。(3)成功地实现了三指单手机器人对剪刀和书法的操作。双臂机器人系统由两个手臂机器人组成(每个手臂机器人有6个自由度)，每个手臂机器人有一只手有三个手指(每个手臂有3个自由度)，用于上述问题的实际应用验证，但这种指尖的灵活性和关节自由度的分配成为新的挑战。

The obtained results in this study are following;(1) some stability conditions of multi-fingered hand grasp (three-dimensional case) has been clarified theoretically, and a decision method has been proposed which searches optimal grasping positions and forces.(2) A curved surface tactile sensor with the upper arm size has been applied to guide a nursing care robot.(3) It has been succeeded that the single hand robot with three multi-fingers manipulates scissors and writes calligraphy and penmanship, and the dual hands robot with multi-fingered hands makes the folded paper.(4) A dual-arm robot systemwas composed of two arm robots (each has 6 degrees of freedom) each of which has a hand with three fingers (each has 3 degrees of freedom) to be used for the practical applicationverification of issues above, but such flexibility of the fingertip and allocation of jointdegrees of freedom have emerged as new challenges.