External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion

研究成果: 著書/レポートタイプへの貢献会議での発言

11 引用 (Scopus)

抄録

This paper proposes a novel object manipulation method by using a dual soft-fingered robotic hand system, in which each fingertip has a torsional joint. By using the torsional motion of the fingertips, a novel 3-dimensional dynamic object manipulation without use of any external sensing can be achieved even though the hand system has only two fingers. Firstly, our proposed system, which includes contact models between each fingertip and surfaces of an object, is modeled. A rolling contact between each fingertip and the object surfaces can be allowed because our proposed system has soft and deformable hemispheric fingertips. Moreover, a torsional contact model between each fingertip and the object surfaces is newly proposed. It is based on an assumption that the torsional motion induces an elastic strain potential. Secondly, a dynamic object manipulation control method is designed. The control signal is composed of four parts, the one is for grasping the object stably, the second one is for controlling a position of the object, the third one is for controlling an attitude of the object, and the last one is for the torsional fingertip motion. A numerical simulation based on our model is performed, and a manipulation experiment by using our developed setup is performed. The usefulness of our proposed method is demonstrated through these results.

元の言語英語
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ4309-4314
ページ数6
DOI
出版物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 3 20105 7 2010

その他

その他2010 IEEE International Conference on Robotics and Automation, ICRA 2010
米国
Anchorage, AK
期間5/3/105/7/10

Fingerprint

End effectors
Computer simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Tahara, K., Maruta, K., & Yamamoto, M. (2010). External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. : 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 4309-4314). [5509816] https://doi.org/10.1109/ROBOT.2010.5509816

External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. / Tahara, Kenji; Maruta, Keigo; Yamamoto, Motoji.

2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 4309-4314 5509816.

研究成果: 著書/レポートタイプへの貢献会議での発言

Tahara, K, Maruta, K & Yamamoto, M 2010, External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. : 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509816, pp. 4309-4314, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 米国, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509816
Tahara K, Maruta K, Yamamoto M. External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. : 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 4309-4314. 5509816 https://doi.org/10.1109/ROBOT.2010.5509816
Tahara, Kenji ; Maruta, Keigo ; Yamamoto, Motoji. / External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. pp. 4309-4314
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