Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand

Kenji Tahara, Suguru Arimoto, Morio Yoshida

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

70 被引用数 (Scopus)

抄録

This paper proposes a novel object manipulation method to regulate the position and attitude of an object in the task space with dynamic stability by using a triple soft-fingered robotic hand system. In our previous works, a dynamic object grasping method without use of any external sensing, called "the Blind Grasping", has been proposed. Although stable grasping in a dynamic sense has been realized by the method, a simultaneous object position and attitude control has not yet been treated, so far. In this paper, instead of using any information of the real object position and attitude, virtual data of object position and attitude are introduced by defining a virtual frame. By using the virtual information, a control signal to regulate the virtual object position and attitude without use of any external sensing is designed. The usefulness of our proposed control method even under the existence of nonholonomic rolling constraints is illustrated through a numerical simulation result.

本文言語英語
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ4322-4327
ページ数6
DOI
出版ステータス出版済み - 2010
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, 米国
継続期間: 5月 3 20105月 7 2010

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域米国
CityAnchorage, AK
Period5/3/105/7/10

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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