Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers

Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA

Volumn 3, Issue , 2003, Pages 1219-1226

  Bae, J H ^a   Tahara, K ^a   Nakamura, S ^a   Arimoto, S ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGEBRA; ARTIFICIAL INTELLIGENCE; AUTOMATION; CONCURRENCY CONTROL; DEGREES OF FREEDOM (MECHANICS); DIFFERENTIAL EQUATIONS; MECHANICS; MUSCLE; ROBOTIC ARMS; SENSORY FEEDBACK;

ALGEBRAIC CONSTRAINTS; CONSTRAINT STABILIZATION; DIFFERENTIAL ALGEBRAIC EQUATIONS; FORCE-VELOCITY CHARACTERISTICS; GEOMETRICAL RELATIONSHIP; MULTI DEGREES OF FREEDOM; OBJECT MANIPULATION; ORIENTATION CONTROL;

ROBOTICS;

EID: 3042630164     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CIRA.2003.1222171     Document Type: Conference Paper

References (10)

1. K. B. Shimoga. Robot grasp synthesis algorithms: A Survey. Int. J. of Robotics System, Vol.13, No.3, pp.230-266, 1996.
2. A. M. Okamura, N. Smaby and M. R. Cutkosky. An overview of dexterous manipulation. Proc. of 2000 IEEE Int. Conf. on Robotics and Automation, pp. 255262, San Francisco, CA, April 2000.
3. A. Bicchi. Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Trans, on Robotics and Automation, Vol.16, pp.652-662, 2000.
4. M. Brady, in his preface in Robotics Research: The First Int. Symp. MIT Press, 1984
5. 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, Vol.18, No.l. pp. 7180, 2000.
6. S. Arimoto, K. Tahara, M. Yamaguchi, P. T. A. Nguyen and H.-Y. Han. Principle of superposition for controlling pinch motions by means of robot fingers with soft tips. ROBOTICA, Vol.19, No.l, pp.21-28, 2001.
7. S. Arimoto, Z. Doulgeri, P.T.A. Nguyen, and J. Fa-soulas. Stable pinching by a pair of robot fingers with soft tips under the effect of gravity. ROBOTICA, vol.20, No.l, pp.1-11, 2002.
8. S. Arimoto, K. Tahara, J.-H. Bae, and M. Yosshida, A Stability theory of a manifold: Concurrent realization of grasp and orientation control of an object by a pair of robot fingers. ROBOTICA, vol.21, No.2, pp.163178, 2003.
9. J. Baumgarte. Stabilization of constraints and integrals of motion in dynamical systems. Comput. Meth. Appt. Mech. Eng., vol.1, pp.1-16, 1972.
10. L. Stark. Neurological Control Systems: Studies in Bioengineering. Plenum Press., New York, 1972.