著者

木村 真也 相山 康道

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会関東支部総会講演会講演論文集 2010.16 (ISSN:24242691)

巻号頁・発行日

pp.215-216, 2010-03-09 (Released:2017-06-19)

---

In our study, our purpose is to give human dexterousness about force sense to robot and we use Jenga game as its target. This paper describes our strategic implementation how robot remove blocks from Jenga tower. At first, we suggest Jenga statics model. A block which can be removed most safely is chosen, using this model. Robot judges that it can remove a block and removes after measuring actual static force and comparing it with model's value.

著者

石井 宏紀 相山 康道

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2013, pp."1A1-J08(1)"-"1A1-J08(4)", 2013-05-22

---

In this study, our purpose is to give human dexterousness to robot system and we take up Jenga game as concrete work target. This paper describes new approach for dexterous manipulation of Jenga blocks. At first, we suggest wrench motion approach which human use and wrench motion model. Then, we confirm effectiveness of wrench motion, removing Jenga blocks actually. Finally, we implement wrench motion to remove Jenga blocks system. We make robot remove Jenga blocks, and compare its result with other study.

著者

相山 康道

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.74, no.10, pp.1042-1045, 2008-10-05 (Released:2010-10-15)

参考文献数

5