Object Manipulation in 3D Space by Two Cone-shaped Finger Robots based on Finger-Thumb Opposability without Object Sensing

Title
Object Manipulation in 3D Space by Two Cone-shaped Finger Robots based on Finger-Thumb Opposability without Object Sensing
Authors
김성균오용환오상록
Keywords
Robotic Hand; Manipulation; Finger-Thumb Opposability; 3D Space
Issue Date
2012-05
Publisher
ICRA2012
Citation
, 5136-5141
Abstract
There are many difficulties in dexterous object manipulation by multi-fingered hands, due to redundant degree-of-freedom of the entire system and uncertainties in interaction with the object. In this paper, however, 3D object manipulation without any external sensors are attempted. Under the assumption of point contact without rolling, the object position and orientation are computed in relative sense and used as the feedback for object manipulation. Overall system dynamics including two cone-shaped finger robots and an arbitrary object is modeled, and the closed-loop system stability is analyzed based with the proposed controllers for stable grasping and object position/orientation control. In order to validate the proposed method, dynamic simulation is conducted, and showed complacent results.
URI
http://pubs.kist.re.kr/handle/201004/42627
Appears in Collections:
KIST Publication > Conference Paper
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