NDLI: Object manipulation in 3d space by two cone-shaped finger robots based on finger-thumb opposability without object sensing

Content Provider	IEEE Xplore Digital Library
Author	Sung-Kyun Kim Yonghwan Oh Sang-Rok Oh
Copyright Year	2012
Description	Author affiliation: Cognitive Robotics Center in Korea Institute of Science and Technology (KIST), Korea (Sung-Kyun Kim; Yonghwan Oh; Sang-Rok Oh)
Abstract	There are many difficulties in dexterous object manipulation by multi-fingered hands, due to redundant degree-of-freedom of the entire system and uncertainties in interaction with the object. In this paper, however, 3D object manipulation without any external sensors are attempted. Under the assumption of point contact without rolling, the object position and orientation are computed in relative sense and used as the feedback for object manipulation. Overall system dynamics including two cone-shaped finger robots and an arbitrary object is modeled, and the closed-loop system stability is analyzed based with the proposed controllers for stable grasping and object position/orientation control. In order to validate the proposed method, dynamic simulation is conducted, and showed complacent results.
Starting Page	5136
Ending Page	5141
File Size	619509
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225198
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grasping Position control Robot sensing systems Vectors Robot kinematics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Stable grasping and relative angle control of an object by dual finger robots without object sensing

Humanoid's dual arm object manipulation based on virtual dynamics model

Manipulation of a circular object in a horizontal plane by two finger robots

Vision-based tracking control of nonholonomic mobile robots without position measurement

Extending fingertip grasping to whole body grasping

Control of an object with parallel surfaces by a pair of finger robots without object sensing

A parallel robots framework to study precision grasping and dexterous manipulation

Open-loop self-calibration of articulated robots with artificial skins

Coordinated motion generation and real-time grasping force control for multifingered manipulation

Object manipulation in 3d space by two cone-shaped finger robots based on finger-thumb opposability without object sensing

Similar Documents

Stable grasping and relative angle control of an object by dual finger robots without object sensing

Humanoid's dual arm object manipulation based on virtual dynamics model

Manipulation of a circular object in a horizontal plane by two finger robots

Vision-based tracking control of nonholonomic mobile robots without position measurement

Extending fingertip grasping to whole body grasping

Control of an object with parallel surfaces by a pair of finger robots without object sensing

A parallel robots framework to study precision grasping and dexterous manipulation

Open-loop self-calibration of articulated robots with artificial skins

Coordinated motion generation and real-time grasping force control for multifingered manipulation

Object manipulation in 3d space by two cone-shaped finger robots based on finger-thumb opposability without object sensing