Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands

S. Arimoto, K. Tahara, M. Yamaguchi

Research output: Contribution to conferencePaper

Abstract

This paper derives lumped-parameter dynamics of motion of a pair of robot fingers with soft and deformable tips pinching a rigid object. The dynamics of the system in which area contacts between the finger-tips and the surfaces of the object arise are compared with those of a pair of rigid robot fingers with rigid contacts with an object. It is then shown that even in the simplest case of dual single degree-of-freedom fingers there exists a sensory feedback from measurement of finger joint angles and the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes stable grasping of the object, provided that the object is a rectangular parallelepiped and motion is confined to a horizontal plane. It is further shown that in the case of a pair of one d.o.f. and two d.o.f. fingers with soft tips there exists a sensory feedback that realizes not only stable grasping but also regulating the posture of the object at a specified rotational angle.

Original languageEnglish
Pages524-529
Number of pages6
Publication statusPublished - Dec 1 2001
Externally publishedYes
EventProceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico
Duration: Sep 5 2001Sep 7 2001

Other

OtherProceedings of the 2001 IEEE International Conference on Control Applications CCA '01
CountryMexico
CityMexico City
Period9/5/019/7/01

Fingerprint

Sensory feedback
End effectors
Robots
Feedback
Actuators

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Arimoto, S., Tahara, K., & Yamaguchi, M. (2001). Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands. 524-529. Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.

Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands. / Arimoto, S.; Tahara, K.; Yamaguchi, M.

2001. 524-529 Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.

Research output: Contribution to conferencePaper

Arimoto, S, Tahara, K & Yamaguchi, M 2001, 'Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands', Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico, 9/5/01 - 9/7/01 pp. 524-529.
Arimoto S, Tahara K, Yamaguchi M. Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands. 2001. Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.
Arimoto, S. ; Tahara, K. ; Yamaguchi, M. / Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands. Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.6 p.
@conference{67694cd17b124568ac2c066ecdc71dc7,
title = "Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands",
abstract = "This paper derives lumped-parameter dynamics of motion of a pair of robot fingers with soft and deformable tips pinching a rigid object. The dynamics of the system in which area contacts between the finger-tips and the surfaces of the object arise are compared with those of a pair of rigid robot fingers with rigid contacts with an object. It is then shown that even in the simplest case of dual single degree-of-freedom fingers there exists a sensory feedback from measurement of finger joint angles and the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes stable grasping of the object, provided that the object is a rectangular parallelepiped and motion is confined to a horizontal plane. It is further shown that in the case of a pair of one d.o.f. and two d.o.f. fingers with soft tips there exists a sensory feedback that realizes not only stable grasping but also regulating the posture of the object at a specified rotational angle.",
author = "S. Arimoto and K. Tahara and M. Yamaguchi",
year = "2001",
month = "12",
day = "1",
language = "English",
pages = "524--529",
note = "Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 ; Conference date: 05-09-2001 Through 07-09-2001",

}

TY - CONF

T1 - Existence of feedbacks from sensing to action for stable grasping and dextrous manipulation by multi-fingered robot hands

AU - Arimoto, S.

AU - Tahara, K.

AU - Yamaguchi, M.

PY - 2001/12/1

Y1 - 2001/12/1

N2 - This paper derives lumped-parameter dynamics of motion of a pair of robot fingers with soft and deformable tips pinching a rigid object. The dynamics of the system in which area contacts between the finger-tips and the surfaces of the object arise are compared with those of a pair of rigid robot fingers with rigid contacts with an object. It is then shown that even in the simplest case of dual single degree-of-freedom fingers there exists a sensory feedback from measurement of finger joint angles and the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes stable grasping of the object, provided that the object is a rectangular parallelepiped and motion is confined to a horizontal plane. It is further shown that in the case of a pair of one d.o.f. and two d.o.f. fingers with soft tips there exists a sensory feedback that realizes not only stable grasping but also regulating the posture of the object at a specified rotational angle.

AB - This paper derives lumped-parameter dynamics of motion of a pair of robot fingers with soft and deformable tips pinching a rigid object. The dynamics of the system in which area contacts between the finger-tips and the surfaces of the object arise are compared with those of a pair of rigid robot fingers with rigid contacts with an object. It is then shown that even in the simplest case of dual single degree-of-freedom fingers there exists a sensory feedback from measurement of finger joint angles and the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes stable grasping of the object, provided that the object is a rectangular parallelepiped and motion is confined to a horizontal plane. It is further shown that in the case of a pair of one d.o.f. and two d.o.f. fingers with soft tips there exists a sensory feedback that realizes not only stable grasping but also regulating the posture of the object at a specified rotational angle.

UR - http://www.scopus.com/inward/record.url?scp=0035694939&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035694939&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0035694939

SP - 524

EP - 529

ER -