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 language | English |
---|---|
Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
Pages | 2685-2690 |
Number of pages | 6 |
DOIs | |
Publication status | Published - Dec 1 2008 |
Event | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: Sep 22 2008 → Sep 26 2008 |
Publication series
Name | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
---|
Other
Other | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
---|---|
Country | France |
City | Nice |
Period | 9/22/08 → 9/26/08 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
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 -