Abstract
This paper proposes a novel object manipulation method by a multifingered robotic hand with torsional fingertip joints. By using the unique joint configuration effectively, a dynamic object manipulation can be achieved without the use of any external sensing. Firstly, a dynamic equation of motion of the overall system considering contact models between each fingertip and objectsurface is given. Secondly, an externally sensorless control signal to grasp and manipulate the object is designed. A numerical simulation and an experiment using a prototype are performed, and then finally the effectiveness of proposed method is illustrated through a simulation and an experiment.
| Original language | English |
|---|---|
| Title of host publication | 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation" |
| Publisher | IEEE Computer Society |
| Pages | 469-471 |
| Number of pages | 3 |
| ISBN (Print) | 9781457713613 |
| DOIs | |
| Publication status | Published - Jan 1 2011 |
| Event | 22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation - Nagoya, Japan Duration: Nov 6 2011 → Nov 9 2011 |
Publication series
| Name | 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation" |
|---|
Other
| Other | 22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 11/6/11 → 11/9/11 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Mechanical Engineering
Cite this
Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. / Tahara, Kenji; Maruta, Keigo; Yamamoto, Motoji.
2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation". IEEE Computer Society, 2011. p. 469-471 6102234 (2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation").Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand
AU - Tahara, Kenji
AU - Maruta, Keigo
AU - Yamamoto, Motoji
PY - 2011/1/1
Y1 - 2011/1/1
N2 - This paper proposes a novel object manipulation method by a multifingered robotic hand with torsional fingertip joints. By using the unique joint configuration effectively, a dynamic object manipulation can be achieved without the use of any external sensing. Firstly, a dynamic equation of motion of the overall system considering contact models between each fingertip and objectsurface is given. Secondly, an externally sensorless control signal to grasp and manipulate the object is designed. A numerical simulation and an experiment using a prototype are performed, and then finally the effectiveness of proposed method is illustrated through a simulation and an experiment.
AB - This paper proposes a novel object manipulation method by a multifingered robotic hand with torsional fingertip joints. By using the unique joint configuration effectively, a dynamic object manipulation can be achieved without the use of any external sensing. Firstly, a dynamic equation of motion of the overall system considering contact models between each fingertip and objectsurface is given. Secondly, an externally sensorless control signal to grasp and manipulate the object is designed. A numerical simulation and an experiment using a prototype are performed, and then finally the effectiveness of proposed method is illustrated through a simulation and an experiment.
UR - http://www.scopus.com/inward/record.url?scp=84863321391&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863321391&partnerID=8YFLogxK
U2 - 10.1109/MHS.2011.6102234
DO - 10.1109/MHS.2011.6102234
M3 - Conference contribution
AN - SCOPUS:84863321391
SN - 9781457713613
T3 - 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"
SP - 469
EP - 471
BT - 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"
PB - IEEE Computer Society
ER -