Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips
Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips
复制标题
一对带软尖的机器人手指盲抓和操纵刚性物体
DOI：
10.1109/robot.2007.364204
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
J. Bae
中科院分区：
文献类型：
--
作者：
Morio Yoshida;S. Arimoto;J. Bae
本文涉及一对机器人手指的一类集总参数动力学数学模型的构建，该机器人手指具有柔软且可变形的尖端，捏住刚性物体。然后表明，在一对具有两个和三个关节的平面手指和一个具有平行或非平行平面的二维刚性物体的情况下，存在仅利用手指运动学知识和手指关节测量构建的感觉-运动协调控制信号，从而实现动态意义上的安全抓取。这表明一对机器人手指可以以盲目的方式安全地抓取物体。结果进一步扩展到用一对柔软的手指抓取和操纵 3D 物体的情况，其中一个手指可以在 3D 空间中移动。
This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object. It is then shown that, in the case of a pair of planer fingers with two and three joints and a 2D rigid object with parallel or non-parallel flat surfaces, there exists a sensory-motor coordinated control signal constructed by using only the knowledge of finger kinematics and measurements of finger joints such that it realizes secure grasping in a dynamic sense. This shows that a pair of robot fingers can grasp a thing securely in a blind manner. The result is further extended to the case of 3D object grasping and manipulation by a pair of soft fingers, one of which can move in 3D space.
DOI：
10.1109/robot.2005.1570278
发表时间：
2005-04
期刊：
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
S. Arimoto;R. Ozawa;Morio Yoshida
通讯作者：
S. Arimoto;R. Ozawa;Morio Yoshida