Title :
Development of Dual-Arm Robot with Multi-Fingered Hands
Author :
Nakai, Hiroyuki ; YAMATAKA, Minori ; Kuga, Toru ; Kuge, Sachiko ; Tadano, Hiroyuki ; Nakanishi, Hidenobu ; FURUKAWA, Masanobu ; Ohtsuka, Hideshi
Author_Institution :
Production Technol. Dev. Center, SHARP Corp., Tenri
Abstract :
In this paper, we describe the development of a dual-arm robot with multi-fingered hands and demonstrate some behaviors of manipulating objects with its hands. In the former part of the paper, the design of the robot is presented. The hands of the robot have five fingers with a total of eleven degrees of freedom. The hand is designed considering the dexterity and the size suited for human tools and has tactile sensors equipped on the fingertips of thumb, index finger and middle finger. In the latter part of the paper, experimental demonstration of "chadou" and "cleaning up dishes" behaviors are described. Experimental results show the performance of the robot to manipulate tools of various shapes
Keywords :
dexterous manipulators; tactile sensors; dual-arm robot; multifingered hands; tactile sensors; tool manipulation; Cameras; Cleaning; Fingers; Human robot interaction; Production; Robot sensing systems; Robot vision systems; Robotics and automation; Tactile sensors; Thumb;
Conference_Titel :
Robot and Human Interactive Communication, 2006. ROMAN 2006. The 15th IEEE International Symposium on
Conference_Location :
Hatfield
Print_ISBN :
1-4244-0564-5
Electronic_ISBN :
1-4244-0565-3
DOI :
10.1109/ROMAN.2006.314419
