Study on hemispherical soft-fingered handling for fine manipulation by minimum D.O.F. robotic hand

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 2454-2459

  Inoue, Takahiro ^a   Hirai, Shinichi ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Elastic force; Grasping; Local minimum; Manipulation; Rolling constraint; Soft fingertip

Indexed keywords

ALGORITHMS; COMPUTATIONAL GEOMETRY; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); ELASTIC MODULI; MANIPULATORS;

ELASTIC FORCE; GRASPING; LOCAL MINIMUM; MANIPULATION; ROLLING CONSTRAINT; SOFT FINGERTIP;

END EFFECTORS;

EID: 33845539575     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642070     Document Type: Conference Paper

References (7)

1. N.Xydas and I.Kao, "Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results", Journal of Robotics Research, Vol.18, No.8, pp.941-950, 1999.
2. I.Kao and F.Yang: "Stiffness and Contact Mechanics for Soft Fingers in Grasping and Manipulation", IEEE Trans. on Robotics and Automation, Vol.20, No.1, pp.132-135, 2004.
3. N.Xydas, M.Bhagavat, and I.Kao, "Study of Soft-Finger Contact Mechanics Using Finite Elements Analysis and Experiments", Proc. IEEE Int. Conf. on Robotics and Automation, pp.2179-2184, 2000.
4. P.Nguyen and S. Arimoto, "Performance of Pinching Motions of Two Multi-DOF Robotic Fingers with Soft-Tips", Proc. IEEE Int. Conf. on Robotics and Automation, pp.2344-2349, 2001.
5. S.Arimoto, K.Tahara, M.Yamaguchi, P.Nguyen, and H.Y.Han, "Principle of Superposition for Controlling Pinch Motions by means of Robot Fingers with Soft Tips", Robotica, Vol.19, pp.21-28, 2001.
6. Z.Doulgeri, J.Fasoulas, and S.Arimoto, "Feedback Control for Object Manipulation by a pair of Soft Tip Fingers", Robotica, Vol.20, pp.1-11, 2002.
7. J.Fasoulas and Z.Doulgeri, "Equilibrium Conditions of a Rigid Object Grasped by Elastic Rolling Contacts", Proc. IEEE Int. Conf. on Robotics and Automation, pp.789-794, 2004.