TY - GEN
T1 - Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system
AU - Kawamura, Akihiro
AU - Tahara, Kenji
AU - Kurazume, Ryo
AU - Hasegawa, Tsutomu
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=76249087375&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249087375&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354174
DO - 10.1109/IROS.2009.5354174
M3 - Conference contribution
AN - SCOPUS:76249087375
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 2264
EP - 2270
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -