Towards Whole Arm Manipulation by Contact State Transition
Towards Whole Arm Manipulation by Contact State Transition
复制标题
通过接触状态转换实现整个手臂的操纵
DOI：
10.1109/iros.2006.282370
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Zhongwei Jiang
中科院分区：
文献类型：
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作者：
Tetsuyou Watanabe;K. Harada;T. Yoshikawa;Zhongwei Jiang
本文讨论了允许接触状态转换的整臂操作。对于在完全约束下操纵对象，接触状态转换变得必要。为了实现对物体的操纵，首先通过分析各种接触状态组合的主动/被动闭合特性，推导出物体操纵的可行方向。其次，我们推导出一组关节力矩，使物体在可行的方向上移动。这些分析还提供了关节扭矩，以实现在计划的接触状态下的操作。仿真结果验证了该方法的有效性
This paper discusses the whole arm manipulation allowing the contact state transition. For manipulation of an object under fully constrained, the contact state transition becomes necessary. In order to realize the object manipulation, we first derive the feasible direction of the object manipulation by analyzing the active/passive closure properties for every combination of contact states. Second, we derive the set of joint torque to move the object in the feasible direction. These analyses also provide the joint torque to realize the manipulation at the planned contact states. Effectiveness of the proposed method is confirmed by some simulation results
混合主动/被动闭包下的对象操纵
DOI：
--
发表时间：
2007
期刊：
Journal of the Robotics Society of Japan vol.25, No.4
影响因子：
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作者：
Chang Cai;Takanori Kochiyama;Jing-Long Wu;Tetsuyou Watanabe;渡辺 哲陽;Tetsuyou Watanabe
通讯作者：
Tetsuyou Watanabe