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 language | English |
|---|---|
| Pages (from-to) | 511-523 |
| Number of pages | 13 |
| Journal | Robotica |
| Volume | 31 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Jul 2013 |
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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 journal › Article
}
TY - JOUR
T1 - Dynamic grasping of an arbitrary polyhedral object
AU - Kawamura, Akihiro
AU - Tahara, Kenji
AU - Kurazume, Ryo
AU - Hasegawa, Tsutomu
PY - 2013/7
Y1 - 2013/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84879090934&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879090934&partnerID=8YFLogxK
U2 - 10.1017/S0263574712000525
DO - 10.1017/S0263574712000525
M3 - Article
AN - SCOPUS:84879090934
VL - 31
SP - 511
EP - 523
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 4
ER -