Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensorymotor coordination
Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensorymotor coordination
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DOI：
10.1002/rob.10102
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发表时间：
2003-09-01
期刊：
影响因子：
--
通讯作者：
Tahara, K
中科院分区：
文献类型：
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作者：
Arimoto, S;Yoshida, M;Tahara, K
众所周知，三个无摩擦的手指足以固定任何三角形的二维物体，但对于平行六面体则需要四个手指。然而，最近的研究表明，如果指端具有适当半径的半球形形状并由此滚动，则只需两个手指就足以实现动态意义上对具有平行平坦表面的刚性物体的牢固抓握。指端和物体表面之间感应的。本文主要研究两个问题：（1）通过一对滚动接触实现重力作用下二维多边形物体的动态力/扭矩平衡；（2）在不知道物体运动学和质心的情况下，利用一对末端为半球形的多指手和感觉反馈信号同时实现二维多边形物体的动态安全抓取和方向控制。结果表明，在不知道物体质心和其他运动学参数的情况下，通过指关节间接控制接触位置并在每个接触点的法向和切向方向上感应足够的力，可以实现力/扭矩平衡。 (C) 2003 年 Wiley 期刊公司。
It is well known that three frictionless fingers suffice to immobilize any 2D object with triangular shape but four fingers are necessary for a parallelepiped. However, it has been recently shown that only two fingers are enough to realize secure grasp of a rigid object with parallel flat surfaces in a dynamic sense if finger ends have a hemispherical shape with appropriate radius and thereby rollings; are induced between finger ends and object surfaces. This paper focuses on the two problems: (1) dynamic force/torque balance of 2D polygonal objects under the effect of gravity force by means of a pair of rolling contacts and (2) concurrent realization of dynamically secure grasp and orientation control of 2D polygonal objects by using a pair of multi-fingered hands with hemispherical ends and sensory feedback signals without knowing object kinematics and mass center. It is shown that the force/torque balance can be attained by controlling both the contact positions and inducing adequate forces in both normal and tangential directions at each of contact points indirectly through finger joints without knowing object mass center and other kinematic parameters. (C) 2003 Wiley Periodicals, Inc.