Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips Export

@inproceedings{citeulike:2824529, abstract = {This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object. It is then shown that, in the case of a pair of planer fingers with two and three joints and a 2D rigid object with parallel or non-parallel flat surfaces, there exists a sensory-motor coordinated control signal constructed by using only the knowledge of finger kinematics and measurements of finger joints such that it realizes secure grasping in a dynamic sense. This shows that a pair of robot fingers can grasp a thing securely in a blind manner. The result is further extended to the case of 3D object grasping and manipulation by a pair of soft fingers, one of which can move in 3D space.}, author = {Yoshida, M. and Arimoto, S. and Bae, Ji-Hun}, booktitle = {Robotics and Automation, 2007 IEEE International Conference on}, citeulike-article-id = {2824529}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.2007.364204}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4209822}, doi = {10.1109/ROBOT.2007.364204}, journal = {Robotics and Automation, 2007 IEEE International Conference on}, keywords = {dexterous, grasping, manipulation}, pages = {4707--4714}, posted-at = {2008-05-23 07:33:06}, priority = {2}, title = {Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips}, url = {http://dx.doi.org/10.1109/ROBOT.2007.364204}, year = {2007} }

TY - CONF ID - citeulike:2824529 L3 - citeulike-article-id:2824529 N2 - This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object. It is then shown that, in the case of a pair of planer fingers with two and three joints and a 2D rigid object with parallel or non-parallel flat surfaces, there exists a sensory-motor coordinated control signal constructed by using only the knowledge of finger kinematics and measurements of finger joints such that it realizes secure grasping in a dynamic sense. This shows that a pair of robot fingers can grasp a thing securely in a blind manner. The result is further extended to the case of 3D object grasping and manipulation by a pair of soft fingers, one of which can move in 3D space. JF - Robotics and Automation, 2007 IEEE International Conference on EP - 4714 TI - Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips T2 - Robotics and Automation, 2007 IEEE International Conference on SP - 4707 KW - dexterous KW - grasping KW - manipulation AU - Yoshida, M AU - Arimoto, S AU - Bae, Ji-Hun PY - 2007/// UR - http://dx.doi.org/10.1109/ROBOT.2007.364204 ER -