Enveloping grasp for multiple objects
Enveloping grasp for multiple objects
复制标题
多个物体的包络抓取
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
M. Kaneko
中科院分区：
文献类型：
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作者：
K. Harada;M. Kaneko
研究滚动接触条件下多物体的包络抓取问题。首先给出了机器人多指手所包围的多个物体的运动关系的一般数学表达式，然后推导出了判断每个接触点是否满足滚动条件的条件.我们还展示了一个充分条件，为卷起任何两个物体所掌握的多指机器人手与他们接触。最后，实验结果证实如何容易两个圆柱形物体可以被一个简单的把握运动包围。
This paper discusses the enveloping grasp of multiple objects under rolling contacts. We first provide a general mathematical formulation on the kinematic relationship for multiple objects enveloped by a multifingered robot hand, and then derive a condition for judging whether the rolling condition can be satisfied at each contact point. We also show a sufficient condition for rolling up any two objects grasped by a multifingered robot hand in contact with them. Finally, an experimental result is shown to confirm how easily two cylindrical objects can be enveloped by a simple grasping motion.