Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 3252-3257

  Tahara, Kenji ^a   Maruta, Keigo ^b   Kawamura, Akihiro ^a   Yamamoto, Motoji ^a  

^a KYUSHU UNIVERSITY   (Japan)

^b KAWASAKI HEAVY INDUSTRIES LTD   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ATTITUDE CONTROL; ROBOTICS;

3-DIMENSIONAL; ATTITUDE CONTROLLER; DYNAMIC OBJECTS; OBJECT GRASPING; REGRASPING; SENSING DEVICES; SENSORLESS; VIRTUAL OBJECTS;

CONTROLLERS;

EID: 84864462146     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6224681     Document Type: Conference Paper

References (7)

1. C. Borst, M. Fischer, S. Haidacher, H. Liu and G. Hirzinger, "DLR Hand II: Experiments and experiences with an anthropomorphic hand," Proc. IEEE Int. Conf. Robot. Automat., pp. 702-707, 2003.
2. K. Kaneko, K. Harada, and F. Kanehiro, "Development of multifingered hand for life-size humanoid robots," Proc. IEEE Int. Conf. Robot. Automat., pp. 913-920, 2007.
3. H. Terasaki and T. Hasegawa, "Motion planning of intelligent manipulation by a parallel two-fingered gripper equipped with a simple rotating mechanism," IEEE Trans. Robot. Automat., vol. 14, no. 2, pp. 209-219, 1998.
4. K. Nagata, "Manipulation by a parallel-jaw gripper having a turntable at each fingertip," Proc. IEEE Int. Conf. Robot. Automat., pp. 1663-1670, 1994.
5. A. Bicchi, A. Marigo and D. Prattichizzo, "Dexterity through rolling: Manipulation of unknown objects," Proc. IEEE Int. Conf. Robot. Automat., pp. 1583-1588, 1999.
6. K. Tahara, K. Maruta and M. Yamamoto, "External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion," Proc. IEEE Int. Conf. Robot. Automat., pp. 4309-4314, 2010.
7. K. Tahara, S. Arimoto and M. Yoshida, "Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand," Proc. IEEE Int. Conf. Robot. Automat., pp. 4322-4327, 2010.