Dynamic grasping of an arbitrary polyhedral object

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

This paper proposes a novel dynamic stable grasping method of an arbitrary polyhedral object for a hand-arm system with hemispherical fingertips. This method makes it possible to satisfy the force/torque equilibrium condition for the immobilization of the object without knowledge of the object. Two control signals are proposed which generate grasping forces normal and tangential to an object surface in a final state. The dynamics of the overall system is modeled and analyzed theoretically. We demonstrate the stable grasping of an arbitrary polyhedral object using the proposed controller through numerical simulations and experiments using a newly developed mechanical hand-arm system.

Original languageEnglish
Pages (from-to)511-523
Number of pages13
JournalRobotica
Volume31
Issue number4
DOIs
Publication statusPublished - Jul 2013

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Grasping
Arbitrary
Torque
Controllers
Computer simulation
Signal Control
Experiments
Numerical Experiment
Object
Controller
Numerical Simulation
Demonstrate

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Dynamic grasping of an arbitrary polyhedral object. / Kawamura, Akihiro; Tahara, Kenji; Kurazume, Ryo; Hasegawa, Tsutomu.

In: Robotica, Vol. 31, No. 4, 07.2013, p. 511-523.

Research output: Contribution to journalArticle

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