Grasping control of rolling manipulations with deformable fingertips
作者： Z. Doulgeri , J. Fasoulas
DOI: 10.1109/TMECH.2003.812848
关键词:
摘要: This paper deals with the problem of stable grasping in rolling manipulations soft deformable fingertips two-dimensional space and without effect gravity. Two distance models for soft-area contact motion their on kinematics are considered. The modeling forces contacts is discussed an analysis a grasp made. A simple feedback controller stabilizing proposed tested simulation. control law based object's equilibrium conditions designed so that it drives system at rest by achieving desired value normal appropriate tangential to balance moments created offset.
sci-hub.se 参考文章(14)
Mark R. Cutkosky, Robotic grasping and fine manipulation ,(1985)
K.B. Shimoga, A.A. Goldenberg, Soft materials for robotic fingers international conference on robotics and automation. pp. 1300- 1305 ,(1992) , 10.1109/ROBOT.1992.220069
K.B. Shimoga, Robot grasp synthesis algorithms: a survey The International Journal of Robotics Research. ,vol. 15, pp. 230- 266 ,(1996) , 10.1177/027836499601500302
David J. Montana, The kinematics of contact and grasp The International Journal of Robotics Research. ,vol. 7, pp. 17- 32 ,(1988) , 10.1177/027836498800700302
M.R. Cutkosky, I. Kao, Computing and controlling compliance of a robotic hand international conference on robotics and automation. ,vol. 5, pp. 151- 165 ,(1989) , 10.1109/70.88036
Z. Doulgeri, J. Fasoulas, S. Arimoto, Feedback control for object manipulation by a pair of soft tip fingers Robotica. ,vol. 20, pp. 1- 11 ,(2002) , 10.1017/S0263574701003733
Y. Yokokohji, M. Sakamoto, T. Yoshikawa, Vision-aided object manipulation by a multifingered hand with soft fingertips international conference on robotics and automation. ,vol. 4, pp. 3201- 3208 ,(1999) , 10.1109/ROBOT.1999.774086
D.C. Chang, M.R. Cutkosky, Rolling with deformable fingertips intelligent robots and systems. ,vol. 2, pp. 2194- ,(1995) , 10.1109/IROS.1995.526159
S. Arimoto, K. Tahara, M. Yamaguchi, P.T.A. Nguyen, M.-Y. Han, Principles of superposition for controlling pinch motions by means of robot fingers with soft tips Robotica. ,vol. 19, pp. 21- 28 ,(2001) , 10.1017/S0263574700002939
A.M. Okamura, N. Smaby, M.R. Cutkosky, An overview of dexterous manipulation international conference on robotics and automation. ,vol. 1, pp. 255- 262 ,(2000) , 10.1109/ROBOT.2000.844067