Bae, Ji-Hun Park, Sung-Woo Kim, Doik Baeg, Moon-Hong Oh, Sang-Rok 2024-01-19T12:37:09Z 2024-01-19T12:37:09Z 2022-03-07 2012 1050-4729 https://pubs.kist.re.kr/handle/201004/115699 This paper proposes a strategy for grasp and manipulation of unknown objects. In order to derive force relations of fingers, the groped shape of soft fingers is introduced. The groped shape is not equal to the real object shape, but is tightly related to the force equilibrium of fingers. By considering contact forces of the groped shape, a simple control parameters can be derived. The manipulation of an object is easily accomplished by embedding the concept of virtual centroid into the grasp control to redistribute internal forces. With these concepts, an object can be easily translated, rotated, and manipulated by relocating fingers. The proposed method is verified with experiments. English IEEE A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots Conference 1 IEEE International Conference on Robotics and Automation (ICRA), pp.3798 - 3804 IEEE International Conference on Robotics and Automation (ICRA) 3798 3804 US St Paul, MN 2012-05-14 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 000309406703135 2-s2.0-84864450291 Proceedings Paper