Title :
Manipulation of a circular object in a horizontal plane by two finger robots
Author :
Ozawa, R. ; Arimoto, S. ; Nguyen, P.T.A. ; Yoshida, M. ; Bae, J.-H.
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga
Abstract :
This paper proposes a manipulation of a circular object in a horizontal plane by a pair of finger robots. This method is a quite simple because it does not need to solve any inverse dynamics and inverse kinematics to construct the control input. We examine the condition of stable grasping of a circular object and propose a method for stable grasping without object sensing and for controlling its approximate relative orientation angle. The experimental results show the validity of the controller
Keywords :
attitude control; dexterous manipulators; grippers; position control; approximate relative orientation angle control; circular object manipulation; rolling contact; stable grasping; two finger robots; Automatic control; Fingers; Grasping; Position control; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Sliding mode control; Tactile sensors; a circular object; pinching; relative orientation control; rolling contact; stable grasping;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521833
