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

End effectors
Controllers
Experiments

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

Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints. / Tahara, Kenji; Maruta, Keigo; Kawamura, Akihiro; Yamamoto, Motoji.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3252-3257 6224681 (Proceedings - IEEE International Conference on Robotics and Automation).

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

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., 6224681, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3252-3257, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224681
Tahara K, Maruta K, Kawamura A, Yamamoto M. 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. Institute of Electrical and Electronics Engineers Inc. 2012. p. 3252-3257. 6224681. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2012.6224681
Tahara, Kenji ; Maruta, Keigo ; Kawamura, Akihiro ; Yamamoto, Motoji. / Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 3252-3257 (Proceedings - IEEE International Conference on Robotics and Automation).
@inproceedings{c28a4756df90438d9ed31c42f8985d9b,
title = "Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints",
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.",
author = "Kenji Tahara and Keigo Maruta and Akihiro Kawamura and Motoji Yamamoto",
year = "2012",
month = "1",
day = "1",
doi = "10.1109/ICRA.2012.6224681",
language = "English",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3252--3257",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
address = "United States",

}

TY - GEN

T1 - Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints

AU - Tahara, Kenji

AU - Maruta, Keigo

AU - Kawamura, Akihiro

AU - Yamamoto, Motoji

PY - 2012/1/1

Y1 - 2012/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84864462146&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84864462146&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2012.6224681

DO - 10.1109/ICRA.2012.6224681

M3 - Conference contribution

AN - SCOPUS:84864462146

SN - 9781467314039

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3252

EP - 3257

BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

PB - Institute of Electrical and Electronics Engineers Inc.

ER -