Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers

S. Nakamura, K. Tahara, J. H. Bae, M. Sekimoto, S. Arimoto

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

3 Citations (Scopus)

Abstract

This paper is concerned with experimental analysis of pinching motion by a pair of multi-degrees of freedom robot fingers with rigid hemispherical tips. The experiments were carried out in the case that a parallelepiped object is placed on a non-slippery plate in a horizontal plane and motion of the fingers and the object is confined to the plane. As predicted from the theoretical analyses, experimental results show that stable grasping in a dynamic sense is realized by a sensory feedback constructed by using measurement data of finger joint angles and the rotational angle of the object. Further, it is shown from the experiments that an additional sensory feedback works well in realizing concurrent stable grasp and orientation control of the object.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1162-1167
Number of pages6
ISBN (Electronic)0780378660
DOIs
Publication statusPublished - Jan 1 2003
Externally publishedYes
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: Jul 16 2003Jul 20 2003

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume3

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
CountryJapan
CityKobe
Period7/16/037/20/03

All Science Journal Classification (ASJC) codes

  • Computational Mathematics

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