| Presentation | 2007-03-15 Self-collision Avoidance System for Multi-fingered Robot Hand using Virtual Obstacle Space Masashi YAMAKOSHI, Kiyoshi HOSHINO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | It was the one intended for very slow operation, and it was not appicable in the robot hand etc. that operated at high speed though there was something that the self-collision evasion control was dane to the robot manipulator in real time so far. In this research, the system that was able to evade the self-collision to five finger robot hand that operated at high speed by composing the trouble space that showed the state to habe caused the self-collision beforehand. and calculating the distance to the state from a present passing speed in real time was constructed. Moreover, the posture of an original robot that did not collide was generated with the map to the space when the virtual trouble space with a certain constant thickness was composed on the surface of the trouble space, and the target was indicated in the trouble space. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | multi finger robot hand / self-collision avoidance / master-slave |
| Paper # | MBE2006-121 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2007/3/8(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Self-collision Avoidance System for Multi-fingered Robot Hand using Virtual Obstacle Space |
| Sub Title (in English) | |
| Keyword(1) | multi finger robot hand |
| Keyword(2) | self-collision avoidance |
| Keyword(3) | master-slave |
| 1st Author's Name | Masashi YAMAKOSHI |
| 1st Author's Affiliation | Graduate School of Systems and Information Engineering, University of Tsukuba() |
| 2nd Author's Name | Kiyoshi HOSHINO |
| 2nd Author's Affiliation | Graduate School of Systems and Information Engineering, University of Tsukuba |
| Date | 2007-03-15 |
| Paper # | MBE2006-121 |
| Volume (vol) | vol.106 |
| Number (no) | 591 |
| Page | pp.pp.- |
| #Pages | 4 |
| Date of Issue | |