Abstract
The aim of this research is to develop a direct teaching system for multifingered robot hand to reproduce in-hand manipulation demonstrated by an human operator. A recognition method by observing contact state transition on a palm surface is described to detect primitives of in-hand manipulation. Dynamic programming (DP) matching is applied to recognize the primitives. The direct teaching system is developed consisting of an object with multiple sensors and a multi-fingered robot hand “NAIST-hand” developed by our group. By taking a barcode scanning task as an example, an experiment is conducted to demonstrate the validity of the developed system.
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Kondo, M., Ueda, J., Ogasawara, T. (2010). Recognition of In-Hand Manipulation by Observing Contact State Transition for Robot Hand Control. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_29
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DOI: https://doi.org/10.1007/978-3-642-14743-2_29
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