TY - GEN
T1 - Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system
AU - Kawamura, Akihiro
AU - Tahara, Kenji
AU - Kurazume, Ryo
AU - Hasegawa, Tsutomu
PY - 2010
Y1 - 2010
N2 - This paper proposes a novel method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. The proposed method is based on a simple sensory-feedback control using the information of an object attitude, and any mathematically complicated computation, such as calculation of inverse dynamics and kinematics, are not required. In addition, the stability of the overall system applied this method is verified. Firstly, nonholonomic rolling constraints between a multi-fingered hand-arm system and an object are formulated. Then, a novel control method for stable grasping and attitude regulation of the grasped object is proposed. It is assumed that information of the attitude of the object is available in real time by external sensors, such as vision, force, tactile sensors, and so on. Next, the stability of the overall system is verified by analyzing the closed-loop dynamics. Finally, it is demonstrated through numerical simulations that our proposed method enables to grasp the object with arbitrary shape, and regulate the attitude of the object stably.
AB - This paper proposes a novel method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. The proposed method is based on a simple sensory-feedback control using the information of an object attitude, and any mathematically complicated computation, such as calculation of inverse dynamics and kinematics, are not required. In addition, the stability of the overall system applied this method is verified. Firstly, nonholonomic rolling constraints between a multi-fingered hand-arm system and an object are formulated. Then, a novel control method for stable grasping and attitude regulation of the grasped object is proposed. It is assumed that information of the attitude of the object is available in real time by external sensors, such as vision, force, tactile sensors, and so on. Next, the stability of the overall system is verified by analyzing the closed-loop dynamics. Finally, it is demonstrated through numerical simulations that our proposed method enables to grasp the object with arbitrary shape, and regulate the attitude of the object stably.
UR - http://www.scopus.com/inward/record.url?scp=79952978767&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952978767&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723559
DO - 10.1109/ROBIO.2010.5723559
M3 - Conference contribution
AN - SCOPUS:79952978767
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1542
EP - 1548
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -