Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints

Morio Yoshida, Suguru Arimoto, Kenji Tahara

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

3 Citations (Scopus)

Abstract

Modeling of pinching an object with arbitrary shape by a pair of robot fingers with hemispherical ends in a horizontal plane is proposed in a mathematical and computational manner. Since the curvature of an object contour with an arbitrary curve is variable according to the change of the contact point between the object surface and the rigid finger tip, the arclength paremeter "s" explicitly appears in the overall fingers-object dynamics. It is shown that the overall fingers-object system should be accompanied with the first-order differential equation of the parameter "s" that includes the curvatures of both the object contour and finger-tip curve. A control input, which is of the same category as the control input called "blind grasping" appeared in our former papers, is utilized for the realization of stable grasp. The control input does neither need to use the kinematic information of the object nor use any external sensing. Finally, numerical simulations are carried out in order to confirm the effectiveness of our proposed model and control input.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1805-1810
Number of pages6
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint

Robots
Point contacts
Kinematics
Differential equations
Computer simulation

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Yoshida, M., Arimoto, S., & Tahara, K. (2009). Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 1805-1810). [5354836] https://doi.org/10.1109/IROS.2009.5354836

Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. / Yoshida, Morio; Arimoto, Suguru; Tahara, Kenji.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1805-1810 5354836.

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

Yoshida, M, Arimoto, S & Tahara, K 2009, Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354836, pp. 1805-1810, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354836
Yoshida M, Arimoto S, Tahara K. Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1805-1810. 5354836 https://doi.org/10.1109/IROS.2009.5354836
Yoshida, Morio ; Arimoto, Suguru ; Tahara, Kenji. / Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 1805-1810
@inproceedings{3b9cc22d718b4574b5fbe59d26d0a899,
title = "Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints",
abstract = "Modeling of pinching an object with arbitrary shape by a pair of robot fingers with hemispherical ends in a horizontal plane is proposed in a mathematical and computational manner. Since the curvature of an object contour with an arbitrary curve is variable according to the change of the contact point between the object surface and the rigid finger tip, the arclength paremeter {"}s{"} explicitly appears in the overall fingers-object dynamics. It is shown that the overall fingers-object system should be accompanied with the first-order differential equation of the parameter {"}s{"} that includes the curvatures of both the object contour and finger-tip curve. A control input, which is of the same category as the control input called {"}blind grasping{"} appeared in our former papers, is utilized for the realization of stable grasp. The control input does neither need to use the kinematic information of the object nor use any external sensing. Finally, numerical simulations are carried out in order to confirm the effectiveness of our proposed model and control input.",
author = "Morio Yoshida and Suguru Arimoto and Kenji Tahara",
year = "2009",
month = "12",
day = "11",
doi = "10.1109/IROS.2009.5354836",
language = "English",
isbn = "9781424438044",
pages = "1805--1810",
booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

}

TY - GEN

T1 - Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints

AU - Yoshida, Morio

AU - Arimoto, Suguru

AU - Tahara, Kenji

PY - 2009/12/11

Y1 - 2009/12/11

N2 - Modeling of pinching an object with arbitrary shape by a pair of robot fingers with hemispherical ends in a horizontal plane is proposed in a mathematical and computational manner. Since the curvature of an object contour with an arbitrary curve is variable according to the change of the contact point between the object surface and the rigid finger tip, the arclength paremeter "s" explicitly appears in the overall fingers-object dynamics. It is shown that the overall fingers-object system should be accompanied with the first-order differential equation of the parameter "s" that includes the curvatures of both the object contour and finger-tip curve. A control input, which is of the same category as the control input called "blind grasping" appeared in our former papers, is utilized for the realization of stable grasp. The control input does neither need to use the kinematic information of the object nor use any external sensing. Finally, numerical simulations are carried out in order to confirm the effectiveness of our proposed model and control input.

AB - Modeling of pinching an object with arbitrary shape by a pair of robot fingers with hemispherical ends in a horizontal plane is proposed in a mathematical and computational manner. Since the curvature of an object contour with an arbitrary curve is variable according to the change of the contact point between the object surface and the rigid finger tip, the arclength paremeter "s" explicitly appears in the overall fingers-object dynamics. It is shown that the overall fingers-object system should be accompanied with the first-order differential equation of the parameter "s" that includes the curvatures of both the object contour and finger-tip curve. A control input, which is of the same category as the control input called "blind grasping" appeared in our former papers, is utilized for the realization of stable grasp. The control input does neither need to use the kinematic information of the object nor use any external sensing. Finally, numerical simulations are carried out in order to confirm the effectiveness of our proposed model and control input.

UR - http://www.scopus.com/inward/record.url?scp=76249102436&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=76249102436&partnerID=8YFLogxK

U2 - 10.1109/IROS.2009.5354836

DO - 10.1109/IROS.2009.5354836

M3 - Conference contribution

AN - SCOPUS:76249102436

SN - 9781424438044

SP - 1805

EP - 1810

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

ER -