Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand

Kenji Tahara, Suguru Arimoto, Morio Yoshida

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

60 Citations (Scopus)

Abstract

This paper proposes a novel object manipulation method to regulate the position and attitude of an object in the task space with dynamic stability by using a triple soft-fingered robotic hand system. In our previous works, a dynamic object grasping method without use of any external sensing, called "the Blind Grasping", has been proposed. Although stable grasping in a dynamic sense has been realized by the method, a simultaneous object position and attitude control has not yet been treated, so far. In this paper, instead of using any information of the real object position and attitude, virtual data of object position and attitude are introduced by defining a virtual frame. By using the virtual information, a control signal to regulate the virtual object position and attitude without use of any external sensing is designed. The usefulness of our proposed control method even under the existence of nonholonomic rolling constraints is illustrated through a numerical simulation result.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4322-4327
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

    Fingerprint

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Tahara, K., Arimoto, S., & Yoshida, M. (2010). Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 4322-4327). [5509372] https://doi.org/10.1109/ROBOT.2010.5509372