Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system

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12 Citations (Scopus)

Abstract

This paper proposes a novel control method for stable grasping using a multi-fingered hand-arm system with soft hemispherical finger tips. The proposed method is simple but easily achieves stable grasping of an arbitrary polyhedral object using an arbitrary number of fingers. Firstly, we formulate nonholonomic constraints between a multi-fingered hand-arm system and an object constrained by rolling contact with finger tips, and derive a condition for stable grasping by stability analysis. A new index for evaluating the possibility of stable grasping is proposed and efficient initial relative positions between finger tips and the object for realizing stable grasping are analyzed. The stability of the proposed system and the validity of the index are verified through numerical simulations.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2264-2270
Number of pages7
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Kawamura, A., Tahara, K., Kurazume, R., & Hasegawa, T. (2009). Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2264-2270). [5354174] https://doi.org/10.1109/IROS.2009.5354174