Design and development of a new robot joint using a mechanical impedance adjuster

Toshio Morita, Shigeki Sugano

研究成果: Conference contribution

129 被引用数 (Scopus)

抄録

The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers which consists of the new mechanism, which can grasp objects softly. This paper presents a new joint mechanism named 'Mechanical Impedance Adjuster', and an impedance control method of robot finger joint by this mechanism. The effect of this method is shown by the experiment of the 1-D.O.F. finger model.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ2469-2475
ページ数7
DOI
出版ステータスPublished - 1995 1 1
外部発表はい
イベントProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
継続期間: 1995 5 211995 5 27

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
3
ISSN(印刷版)1050-4729

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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