Externally Sensorless Position and Attitude Control of a Grasped Object Using a Virtual Frame by a Triple Soft-Fingered Hand
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- Tahara Kenji
- Kyushu University
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- Arimoto Suguru
- Ritsumeikan University
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- Yoshida Morio
- RTC, RIKEN
Bibliographic Information
- Other Title
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- 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御
- ジュウナン 3 シ ハンド ニ ヨル カソウ フレーム オ モチイタ ハジ ブッタイ ノ ガイカイ センサレス イチ シセイ セイギョ
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Abstract
This paper proposes a novel object manipulation method to regulate the position and attitude of a rigid object of parallelepiped with maintaining stable grasping by a triple soft-fingered hand without use of any external sensing. In the authors' previous works, “the Blind Grasping” control scheme was proposed for a pair of soft-fingered hand to accomplish dynamic object grasping without use of any external sensing. However, it has just achieved a stable object grasping, and a simultaneous object position and attitude control has not yet been treated, so far. To this end, a ternary finger in addition to a pair of fingers is introduced in order to enhance the Blind Grasping manner to “the Blind Manipulation” manner. Since the Blind Grasping control input has been designed for a pair of fingers, in this paper it is renewed to install it into the triple-fingered robotic hand. Moreover, both the virtual object position and attitude are utilized by defining a virtual frame instead of real information of the object position and attitude in order to achieve the Blind Manipulation. First, the overall dynamics, which considers rolling contact constraints between each fingertip and object surface, is derived. Second, a control signal to regulate the virtual object position and attitude without use of any external sensing, “the Blind Manipulation”, is designed. Next, the stability of the system is discussed briefly, and finally the usefulness of our proposed manipulation method is demonstrated through a numerical simulation.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 29 (1), 89-98, 2011
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679701777664
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- NII Article ID
- 10027648611
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 10956837
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed