Principles of superposition for controlling pinch motions by means of robot fingers with soft tips

Robotica

Volumn 19, Issue 1, 2001, Pages 21-28

  Arimoto, S ^a   Tahara, K ^a   Yamaguchi, M ^a   Nguyen, P T A ^a   Han, H Y ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Pinch motion; Robot finger; Soft finger; Stable grasping; Super position principle

Indexed keywords

ASYMPTOTIC STABILITY; CONTROL SYSTEM SYNTHESIS; CONVERGENCE OF NUMERICAL METHODS; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; FEEDBACK CONTROL; GRIPPERS; LAGRANGE MULTIPLIERS; MANIPULATORS; POSITION CONTROL; PRESSURE; TORQUE;

HOLONOMIC CONSTRAINT; PASSIVITY ANALYSIS; ROBOT FINGERS; SOFT FINGER TIPS;

MOTION CONTROL;

EID: 0034997714     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574700002939     Document Type: Article

References (7)

1. S. Arimoto, P.T.A. Nguyen, H.-Y. Han, and Z. Doulgeri, "Dynamics and control of a set of dual fingers with soft tips" Robotica, 18 (1) Part 1, 71-80 (2000).
2. P.T.A. Nguyen, S. Arimoto and H.-Y. Han, "Computer simulation of dynamics of dual fingers with soft-tips grasping an object", Ann Arbor, Michigan (July 2000).
3. S. Arimoto, Control Theory of Nonlinear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach (Oxford University Press, Oxford, UK, 1996).
4. J.P. LaSalle, "Some extensions of Lyapunov's second method", IRE Trans, on Circuit Theory 7, 520-527 (1960).
5. V. Nguyen, "Constructing stable grasps", Int. J. of Robotics Research, 8(1), 26-37 (1989).
6. S. Arimoto and P.T.A Nguyen, "Principle of superposition for realizing dexterous pinching motions of a pair of robot fingers with soft tips" (to be published in IEICE Trans. on Fundamentals, Electronics, Communications and Computer Sciences, Vol. E84-A, No. 1, January 2001).
7. P.T.A. Nguyen, S. Arimoto and H.-Y.Han, "Computer simulation of controlled motion of dual fingers with soft-tips grasping and manipulating an object" (submitted to Advanced Robotics, 2000).