Dynamic object grasping by a triple-fingered robotic hand

Kenji Tahara, Suguru Arimoto, Morio Yoshida

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

This paper deals with dynamic object grasping and position control by using a triple-fingered robotic hand with hemispherical soft finger tips. In the authors' previous works, a dynamic object grasping method by using a pair of robotic fingers, called "Blind Grasping", which does not need to use any external sensing, was proposed. However, it is so far assumed that spinning motion around the opposite axis for the object does not occur during the overall movement, because there are only two opposite fingers and thereby the spinning is uncontrollable. By introducing a surplus finger in addition to a pair of robotic fingers, this spinning can be inhibited and it becomes controllable. In this paper, a triple-fingered robotic hand system with nonholonomic constraints is modeled, and a control input to realize stable grasping with object position control is proposed. Its usefulness and effectiveness are illustrated through some numerical simulation results.

本文言語英語
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2685-2690
ページ数6
DOI
出版ステータス出版済み - 12 1 2008
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, フランス
継続期間: 9 22 20089 26 2008

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

その他

その他2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域フランス
CityNice
Period9/22/089/26/08

All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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