2009 Fiscal Year Final Research Report
Object Manipulation by Multi-fingered Robot Hand with Soft Fingertips
| Project/Area Number |
20760163
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Gifu University |
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Principal Investigator |
UEKI Satoshi Gifu University, 産官学融合本部, 産官学融合本部講師(中核的研究機関研究員) (50467213)
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| Project Period (FY) |
2008 – 2009
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| Keywords | 多指ロボットハンド / 柔軟指 / 物体操作 |
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| Research Abstract |
This research proposed a dynamics of deformation of soft fingertips with inertia force, and proposed two control methods for object manipulation by multi-fingered hand. The asymptotic convergence of object position, object orientation and contact force is proven by the Lyapunov-like Lemma. The simulation results and experiment results shows the effectiveness of proposed controllers.
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