Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints

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

15 Citations (Scopus)

Abstract

This paper presents an improvement of our previously proposed dynamic object grasping and manipulation method. This method, which utilizes a dual-fingered hand of which each soft and hemispheric fingertip owns a torsional joint, has performed novel 3-dimensional dynamic object grasping and manipulation stably without the use of any external sensing device. However, several limitation and weakness have still remained in terms of dexterity and robustness. In order to improve it, firstly a triple-fingered hand is newly introduced instead of the dual-fingered hand to perform regrasping. Next, the previously proposed stable object grasping controller is adequately modified to perform dynamic regrasping during manipulation. Additionally, the virtual object attitude controller is also modified to improve its performance. Finally, several experiments are conducted by using a prototype, and the usefulness of proposed controller is demonstrated through these results.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3252-3257
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

    Fingerprint

All Science Journal Classification (ASJC) codes

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

Cite this

Tahara, K., Maruta, K., Kawamura, A., & Yamamoto, M. (2012). Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3252-3257). [6224681] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224681