Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system

Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa

doi:10.1109/IROS.2009.5354174

Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system

Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

This paper proposes a novel control method for stable grasping using a multi-fingered hand-arm system with soft hemispherical finger tips. The proposed method is simple but easily achieves stable grasping of an arbitrary polyhedral object using an arbitrary number of fingers. Firstly, we formulate nonholonomic constraints between a multi-fingered hand-arm system and an object constrained by rolling contact with finger tips, and derive a condition for stable grasping by stability analysis. A new index for evaluating the possibility of stable grasping is proposed and efficient initial relative positions between finger tips and the object for realizing stable grasping are analyzed. The stability of the proposed system and the validity of the index are verified through numerical simulations.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	2264-2270
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2009.5354174
Publication status	Published - Dec 11 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: Oct 11 2009 → Oct 15 2009

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/11/09 → 10/15/09

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

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10.1109/IROS.2009.5354174

Cite this

Kawamura, A , Tahara, K , Kurazume, R & Hasegawa, T 2009, Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354174, pp. 2264-2270, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354174

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AB - This paper proposes a novel control method for stable grasping using a multi-fingered hand-arm system with soft hemispherical finger tips. The proposed method is simple but easily achieves stable grasping of an arbitrary polyhedral object using an arbitrary number of fingers. Firstly, we formulate nonholonomic constraints between a multi-fingered hand-arm system and an object constrained by rolling contact with finger tips, and derive a condition for stable grasping by stability analysis. A new index for evaluating the possibility of stable grasping is proposed and efficient initial relative positions between finger tips and the object for realizing stable grasping are analyzed. The stability of the proposed system and the validity of the index are verified through numerical simulations.

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Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system

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