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9 January 2008 Grasp and manipulation by soft finger with 3-dimensional deformation
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Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942V (2008) https://doi.org/10.1117/12.784504
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan
Abstract
In this paper, we consider control of grasp and manipulation of an object in 3-dimensional space by a 3-fingered hand robot with soft finger-tips. We firstly propose a 3-dimensional deformation model of a semispherical soft fingertip and confirm its relevance by experiments. Second, we derive the rolling contact kinematics and the dynamical equations of the fingers and the object where the 3-dimensional deformation is considered. For the system, we thirdly propose a method to regulate the object and the internal force with the information of the hand, the object and the deformation. Simulations are shown to prove the effectiveness of the control method.
© (2008) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Akira Nakashima, Takeshi Shibata, and Yoshikazu Hayakawa "Grasp and manipulation by soft finger with 3-dimensional deformation", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942V (9 January 2008); https://doi.org/10.1117/12.784504
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