Kim, Sung-Kyun Oh, Yonghwan Oh, Sang-Rok 2024-01-19T12:37:21Z 2024-01-19T12:37:21Z 2022-03-07 2012 1050-4729 https://pubs.kist.re.kr/handle/201004/115710 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. English IEEE Object Manipulation in 3D Space by Two Cone-shaped Finger Robots based on Finger-Thumb Opposability without Object Sensing Conference 1 IEEE International Conference on Robotics and Automation (ICRA), pp.5136 - 5141 IEEE International Conference on Robotics and Automation (ICRA) 5136 5141 US St Paul, MN 2012-05-14 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 000309406705026 2-s2.0-84864451707 Proceedings Paper