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: Sep 22 2008Sep 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
CountryFrance
CityNice
Period9/22/089/26/08

Fingerprint

Position control
End effectors
Robotics
Computer simulation

All Science Journal Classification (ASJC) codes

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

Cite this

Tahara, K., Arimoto, S., & Yoshida, M. (2008). Dynamic object grasping by a triple-fingered robotic hand. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2685-2690). [4650702] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650702

Dynamic object grasping by a triple-fingered robotic hand. / Tahara, Kenji; Arimoto, Suguru; Yoshida, Morio.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2685-2690 4650702 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

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

Tahara, K, Arimoto, S & Yoshida, M 2008, Dynamic object grasping by a triple-fingered robotic hand. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650702, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 2685-2690, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 9/22/08. https://doi.org/10.1109/IROS.2008.4650702
Tahara K, Arimoto S, Yoshida M. Dynamic object grasping by a triple-fingered robotic hand. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2685-2690. 4650702. (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650702
Tahara, Kenji ; Arimoto, Suguru ; Yoshida, Morio. / Dynamic object grasping by a triple-fingered robotic hand. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. pp. 2685-2690 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).
@inproceedings{163b304547e7463da7b6586c3f88b729,
title = "Dynamic object grasping by a triple-fingered robotic hand",
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.",
author = "Kenji Tahara and Suguru Arimoto and Morio Yoshida",
year = "2008",
month = "12",
day = "1",
doi = "10.1109/IROS.2008.4650702",
language = "English",
isbn = "9781424420582",
series = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
pages = "2685--2690",
booktitle = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

}

TY - GEN

T1 - Dynamic object grasping by a triple-fingered robotic hand

AU - Tahara, Kenji

AU - Arimoto, Suguru

AU - Yoshida, Morio

PY - 2008/12/1

Y1 - 2008/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=69549096598&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=69549096598&partnerID=8YFLogxK

U2 - 10.1109/IROS.2008.4650702

DO - 10.1109/IROS.2008.4650702

M3 - Conference contribution

AN - SCOPUS:69549096598

SN - 9781424420582

T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

SP - 2685

EP - 2690

BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ER -