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Dynamic Object Grasping and Manipulation of a Multi-Fingered Robotic Hand under Inadequate Sensory Information

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九州大学学術情報リポジトリ

Kyushu University Institutional Repository

Dynamic Object Grasping and Manipulation of a Multi-Fingered Robotic Hand under Inadequate Sensory Information

崔, 乘賢

http://hdl.handle.net/2324/4110506

出版情報:九州大学, 2020, 博士(工学), 課程博士 バージョン:

権利関係:やむを得ない事由により本文ファイル非公開 (3)

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(様式5-2)

氏 名 崔 乘 賢

論 文 名 Dynamic Object Grasping and Manipulation of a Multi-Fingered Robotic Hand under Inadequate Sensory Information

論文調査委員 主 査 九州大学 教授 山本 元司 副 査 九州大学 教授 倉爪 亮 副 査 九州大学 教授 田原 健二

論 文 審 査 の 結 果 の 要 旨

本論文は,多指ハンドロボットによる物体把持・操作において,外界センサ情報が利用できない,

もしくは利用できてもその情報にノイズや誤差,時間遅れを含み,十分な解像度で得られない場合 において,外力に対してロバストに,かつセンサ情報と同等の精度で物体把持と姿勢操作を実現す る手法を提案し,数値シミュレーションおよび実験によってその有効性を示した研究である.これ は多指ハンドロボットによる巧みな物体操作の発展に寄与するものであり,よって,本論文は機械 工学上価値ある業績と認める.

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