Dexterous grippers: Putting nonholonomy to work for fine manipulation

International Journal of Robotics Research

Volumn 21, Issue 5-6, 2002, Pages 427-442

  Bicchi, Antonio ^a   Marigo, Alessia ^b  

^a UNIVERSITY OF PISA   (Italy)

^b CNR   (Italy)

Author keywords

Dexterous manipulation; Motion planning; Nonholonomic systems; Robotic hands; Shape reconstruction

Indexed keywords

ACTUATORS; ALGORITHMS; END EFFECTORS; GRIPPERS; MANIPULATORS; MOTION PLANNING; ROBOT APPLICATIONS;

NONHOLONOMIC SYSTEMS;

MOBILE ROBOTS;

EID: 0036589597     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836402321261968     Document Type: Article

References (38)

1. Allen, P.K. 1986. Sensing and describing 3-D structure. In Proc. IEEE Int. Conf. on Robotics and Automation.
2. Allen, P.K., and Roberts, K.S. 1989. Haptic object recognition using a multi-fingered dextrous hand. In Proc. IEEE Int. Conf. on Robotics and Automation.
3. Berkemeyer, M.D., and Fearing, R.S. 1989. Determining the axis of a surface of revolution using tactile sensing. Tech. Rep. Memo no. UCB/ERL M89/117, EECS Dept. Univ. of California, Berkeley.
4. Bicchi, A. 2000. Hands for dextrous manipulation and powerful grasping: A difficult road towards simplicity. tra 16(6):652-662.
5. Bicchi, A., and Goldberg, K., eds. 1996. Proceedings of 1996 Workshop on Minimalism in Robotic Manipulation. Proc. IEEE Int. Conf. on Robotics and Automation.
6. Bicchi, A., Prattichizzo, D., and Sastry, S.S. 1995. Planning motions of rolling surfaces. In Proc. IEEE Int. Conf. on Decision and Control.
7. Bicchi, A., Salisbury, J.K., and Brock, D.L. 1993. Contact sensing from force and torque measurements. Int. Jour. of Robotics Research 12(3):249-262.
8. Brady, M., Ponce, J., and Yuille, A. 1984. Describing surfaces. in Int. Symp. on Robotics Research. MIT Press.
9. Cai, C., and Roth, B. 1987. On the spatial motion of a rigid body with point contact. In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 686-695.
10. Caselli, S., Magagnini, C., and Zanichelli, F. 1995. On the robustness of haptic object recognition based on polyhedral shape representations. In Proc. Int. Conf. on Intelligent Robots and Systems, IROS.
11. Ceccarelli, M., Marigo, A., Piccinocchi, S., and Bicchi, A. 2000. Planning motions of polyhedral parts by rolling. Algorithmica 26(4):560-576.
12. Chitour, Y., Marigo, A., and Bicchi, A. 2001. Reachability and steering of rolling polyhedra: A case study in discrete nonholonomy. IEEE Trans. on Automatic Control, under revision.
13. Cole, A., Hauser, J., and Sastry, S.S. 1989. Kinematics and control of a multifingered robot hand with rolling contact. IEEE Trans. on Robotics and Automation 34(4):398-404.
14. Divelbiss, A.W., and Wen, J. 1993. Nonholonomic path planning with inequality constraints. In Proc. IEEE Int. Conf. on Decision and Control, pp. 2712-2717.
15. Ellis, R.E. 1992. Planning tactile recognition paths in two and three dimensions. Int. J. of Robotics Research 11(2):87-111.
16. Faugeras, O.D., Hebert, M., Pauchon, E., and Ponce, J. 1984. Object representation, identification, and positioning from range data. In Int. Symp. on Robotics Research, eds. M. Brady and R. Paul, 425-446. MIT Press.
17. Grimson, W.E.L. 1987. On the recognition of parameterized objects. In Int. Symp. on Robotics Research. MIT Press.
18. Grimson, W.E.L., and Lozano-Pérez, T. 1984. Model-based recognition and localization from sparse range or tactile data. Int. J. of Robotics Research 3(3):3-35.
19. Levi, M. 1993. Geometric phases in the motion of rigid bodies. Arch. Rational Mech. Anal., vol. 122, pp. 213-229.
20. Li, Z., and Canny, J. 1990. Motion of two rigid bodies with rolling constraint. IEEE Trans. on Robotics and Automation 6(1):62-72.
21. Lucibello, P., and Oriolo, G. 2001. Robust stabilization via iterative state steering with an application to chained-form systems. Automatica, vol. 37, pp. 71-79.
22. Luo, R.C., Tsai, W.H., and Lin, J.C. 1984. Object recognition with combined tactile and visual information. In Proc. Int. Conf. on Robot Vision and Sensory Control (ROVISEC), pp. 183-196.
23. Marigo, A., and Bicchi, A. 2000. Rolling bodies with regular surface: Controllability theory and applications. IEEE Trans. on Automatic Control 45(9):1586-1599.
24. Marigo, A., Chitour, Y., and Bicchi, A. 1997. Manipulation of polyhedral parts by rolling. In Proc. IEEE Int. Conf. on Robotics and Automation, vol. 4, pp. 2992-2997.
25. Mason, M.T., and Salisbury, J.K. Robot Hands and the Mechanics of Manipulation. Cambridge, MA: MIT Press.
26. Montana, D.J. 1998. The kinematics of contact and grasp. Int. Jour. of Robotics Research 7(3): 17-32.
27. Murray, R.M., Li, Z., and Sastry, S.S. 1994. A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press.
28. Nagata, K. 1994. Manipulation by a parallel-jaw gripper having a turntable at each fingertip. In Proc. IEEE Int. Conf. on Robotics and Automation, IEEE, pp. 1663-1670.
29. Oriolo, G., and Vendittelli, M. 2001. Robust stabilization of the plateball manipulation system. In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 91-96.
30. Poggio, T., and Girosi, F. 1990. Networks for approximation and learning. Proc. IEEE 78(9).
31. Sarkar, N. 1993. Control of Mechanical Systems with Rolling Contacts: Applications to Robotics, Ph.D. thesis, University of Pennsylvania, Computer and Information Science Department, Grasp Lab 357.
32. Schrijver, A. 1986. Theory of Linear and Integer Programming. Wiley Interscience Publ.
33. Sekhavat, S., and Laumond, J.P. 1998. Topological properties for collision free nonholonomic motion planning: The case of sinusoidal inputs for chained form systems. IEEE Transactions on Robotics and Automation 14(5):671-680.
34. Sontag, E. 1995. Control of systems without drift via generic loops. IEEE Trans. on Automatic Control 40(7):1210-1219.
35. Sorrentino, R., and Bicchi, A. 1995. Dexterous manipulation through rolling. In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 452-457.
36. Sussmann, H., and Chitour, Y. 1993. A continuation method for nonholonomic path-finding problems. In Proc. IMA Workshop on Robotics.
37. Tikhonov, A.N., and Arsenin, V.Y. 1977. Solutions of Ill-Posed Problems. W.H. Winston, Washington, D.C.
38. Wahba, G. 1990. Spline models for observational data. SIAM, Series in Applied Mathematics, vol. 59, Philadelphia.