- 一般社団法人 日本機械学会
- 日本機械学会論文集C編 (ISSN:18848354)
- vol.78, no.790, pp.2171-2186, 2012 (Released:2012-06-25)
It is one of great functions required for a robot to perform a task instead of a human. Particularly, if a human skilled task is realized to a robot, and moreover it might be applied widely, it is possible for a robot to accept many demands. Here, we adopt the yoyo manipulation as a skilled task with the limber motion of the human upper limbs, which is intended to realize with a 9DOF redundant finger-arm robot system. Unlike conventional method using the yoyo dynamic model, human skills in the yoyo manipulation are extracted by measuring the yoyo operation of a human being with a motion capture system, and are implemented to the robot system. In this way, the yoyo operation can be performed by the robot whose results are friendly understood as human being knowledge. Furthermore, this study tries without a vision sensor, as it were, in the blindfold. Here, we show that continued control of the yoyo can be obtained using both force sensor and position control in its difficulty condition.