Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system

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

3 Citations (Scopus)

Abstract

This paper proposes a novel vision-based grasping and manipulation scheme of a multi-fingered hand-arm system robust for a temporary lack of sensory information. Visual information is one of the fundamental components for reliable grasping and manipulation by a multi-fingered hand-arm system. However, in case that visual information such as position and attitude of an object comes to be unavailable due to the occlusion or if the object goes out-of-sight temporarily, unstable and unfavorable behavior is often induced. The proposed method, which utilizes the stable grasping control and the concept of virtual frame, enables to grasp and manipulate an object stably even if the visual information becomes suddenly and temporarily unavailable during manipulation. Firstly, a dynamical model of object grasping using a multi-fingered hand-arm system is formulated. Next, a new control scheme for robust object grasping and manipulation using the virtual frame is proposed. Finally, numerical simulations are performed to verify the usefulness of the proposed method.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4201-4206
Number of pages6
DOIs
Publication statusPublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kawamura, A., Tahara, K., Kurazume, R., & Hasegawa, T. (2011). Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4201-4206). [6048102] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048102