Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system

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

3 被引用数 (Scopus)

抄録

This paper proposes a novel method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. The proposed method is based on a simple sensory-feedback control using the information of an object attitude, and any mathematically complicated computation, such as calculation of inverse dynamics and kinematics, are not required. In addition, the stability of the overall system applied this method is verified. Firstly, nonholonomic rolling constraints between a multi-fingered hand-arm system and an object are formulated. Then, a novel control method for stable grasping and attitude regulation of the grasped object is proposed. It is assumed that information of the attitude of the object is available in real time by external sensors, such as vision, force, tactile sensors, and so on. Next, the stability of the overall system is verified by analyzing the closed-loop dynamics. Finally, it is demonstrated through numerical simulations that our proposed method enables to grasp the object with arbitrary shape, and regulate the attitude of the object stably.

本文言語英語
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
ページ1542-1548
ページ数7
DOI
出版ステータス出版済み - 2010
イベント2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, 中国
継続期間: 12 14 201012 18 2010

出版物シリーズ

名前2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

その他

その他2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
国/地域中国
CityTianjin
Period12/14/1012/18/10

All Science Journal Classification (ASJC) codes

  • 人工知能
  • バイオテクノロジー
  • 人間とコンピュータの相互作用

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