NDLI: Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand

Content Provider	IEEE Xplore Digital Library
Author	Tahara, K. Arimoto, S. Yoshida, M.
Copyright Year	2010
Description	Author affiliation: Research Organization of Science and Engineering, Ritsumeikan University, Kusatsu 525-8577, Japan (Arimoto, S.) \|\| Institute for Advanced Study, Kyushu University, Fukuoka 819-0395, Japan (Tahara, K.) \|\| RIKEN-TRI Collaboration, Center for Human-Interactive Robot Research, RIKEN, Nagoya, 463-0003, Japan (Yoshida, M.)
Abstract	This paper proposes a novel object manipulation method to regulate the position and attitude of an object in the task space with dynamic stability by using a triple soft-fingered robotic hand system. In our previous works, a dynamic object grasping method without use of any external sensing, called “the Blind Grasping”, has been proposed. Although stable grasping in a dynamic sense has been realized by the method, a simultaneous object position and attitude control has not yet been treated, so far. In this paper, instead of using any information of the real object position and attitude, virtual data of object position and attitude are introduced by defining a virtual frame. By using the virtual information, a control signal to regulate the virtual object position and attitude without use of any external sensing is designed. The usefulness of our proposed control method even under the existence of nonholonomic rolling constraints is illustrated through a numerical simulation result.
Starting Page	4322
Ending Page	4327
File Size	1100103
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509372
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Fingers Robot sensing systems Grasping Orbital robotics Thumb Robotics and automation Stability Attitude control Signal design
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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