Manipulation of 2D object with arbitrary shape by robot finger under rolling constraint

Morio Yoshida, Suguru Arimoto, Kenji Tahara

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

1 Citation (Scopus)


Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler-Lagrange' equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Number of pages5
Publication statusPublished - 2009
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: Aug 18 2009Aug 21 2009


OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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