Pincette manipulation of objects which can not be touched directly with modularization of manipulation space

本课题的目的是通过开发多指机械手控制的镊子等工具抓取和操作物体的模式来改进多指机械手的功能。其最终目标是开发可用于家庭、医疗和福利等人类环境的多指机器人手系统。主要贡献如下：建立了物体可操作性评价模式，建立了存在接触不确定性条件下实现物体抓取的模式，开发了物体抓取数据库，建立了基于数据库搜索的物体抓取和操作规划方法。

The purpose of this project is to improve the functions of multi-fingered hands by developing the schema for object grasping and manipulation with tools such as tweezers controlled by multi-fingered robot hands. Its final goal is to develop multi-fingered robot hand systems which are available at the human environment such as home, medicine and welfare. The main contributions are as follows ; establishment of evaluation schema for object manipulability, establishment of schema for realizing object grasping even when contact uncertainties exist, development of database for object grasping, and establishment of the method to plan object grasping and manipulation based on database searching.