The design of the advanced manipulator applying under harsh condition: the design method of multiple sensory bilateral control for the fingered manipulator

摘要

This paper proposes the design method of multiple sensory bilateral control for the fingered manipulator. Multi pie sensory bilateral control integrates force sensors and tactile sensors information based on conventional bilateral control. Itevaluates the finger shape control which is deeply effected in finger grasp operation using operator finger's vector. Designed system function is examined by solidity or shape recognition, and task execution experiment. It showed the multiple sensorybilateral control and its design method are approved.