Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper

Takashi Yoshimi, Naoyuki Iwata, Makoto Mizukawa, Yoshinobu Ando

研究成果: Conference contribution

20 被引用数 (Scopus)

抄録

One of the tasks which we expect executing by home service robots is a handling of thin objects like papers or plastic cards. It is a difficult task for the home service robots to pick up a thin object placed on the table, because it needs high dexterity. To achieve this motion by home service robots, we used a two-fingered parallel soft gripper with a soft nail, and constructed a sequence of picking up operation of a paper or a plastic card by a robot arm. The constructed sequence consists of sliding motion and raising motion. The robot slides a paper or a card and hooks its nail at the side of it, and raises one side of it, and picks it up like humans. In this paper, we propose a sequence of picking up operation of a paper or a plastic card on the table derived from the analysis of human motions, and confirm its availability through experiments.

本文言語English
ホスト出版物のタイトル2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012
ページ7-12
ページ数6
DOI
出版ステータスPublished - 2012 7 16
イベント2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012 - Munich, Germany
継続期間: 2012 5 212012 5 23

出版物シリーズ

名前Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN(印刷版)2162-7568
ISSN(電子版)2162-7576

Conference

Conference2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012
国/地域Germany
CityMunich
Period12/5/2112/5/23

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

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