Dynamic object grasping by a triple-fingered robotic hand

Kenji Tahara, Suguru Arimoto, Morio Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper deals with dynamic object grasping and position control by using a triple-fingered robotic hand with hemispherical soft finger tips. In the authors' previous works, a dynamic object grasping method by using a pair of robotic fingers, called "Blind Grasping", which does not need to use any external sensing, was proposed. However, it is so far assumed that spinning motion around the opposite axis for the object does not occur during the overall movement, because there are only two opposite fingers and thereby the spinning is uncontrollable. By introducing a surplus finger in addition to a pair of robotic fingers, this spinning can be inhibited and it becomes controllable. In this paper, a triple-fingered robotic hand system with nonholonomic constraints is modeled, and a control input to realize stable grasping with object position control is proposed. Its usefulness and effectiveness are illustrated through some numerical simulation results.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2685-2690
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sept 22 2008Sept 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/TerritoryFrance
CityNice
Period9/22/089/26/08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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