動的スキルによるマニピュレーションの基礎実験

荒井裕彦，Oussama Khatib

システム制御情報学会論文誌, Vol.8, No.9, pp.506-508, 1995.

[Abstract]

When a human manipulates an object, it is common that the object is manipulated by dexterously using its inertia, while being grasped loosely. The purpose of this study is to investigate such skills in the robotic manipulation. The class of manipulation tasks considered here involve a phase in which the object and robot only partly maintain the contact. The position and velocity of the object can be changed by applying control through the contact edge. In this paper, we deal with the rotation of a cubic object on a flat end-effector (paddle). The experimental results have shown successful dynamic manipulation of a cubic object.

[Keywords]

Dynamic Skill, Dynamic Manipulation, Passive Joint