Title :
Parallel-distributed model in three-dimensional soft-fingered grasping and manipulation
Author :
Inoue, Takaniro ; Hirai, Shinichi
Author_Institution :
Dept. Syst. Eng. for Sports, Okayama Pref. Univ., Soja, Japan
Abstract :
This paper focuses on three-dimensional grasping and manipulation by robotic fingers with soft fingertips. The authors have proposed two-dimensional parallel-distributed model of a soft fingertip to describe the dependency of its potential energy to the relative orientation between the fingertip and the object. Here we extend the previous two-dimensional model to three-dimensional model, incorporating the rotation in three-dimensional space. We formulate the elastic potential energy stored in a soft fingertip due to the contact with the planar surface in three-dimensional space. We sketch the Lagrangian of the system consisting of a rigid prism grasped by three fingers with soft fingertips.
Keywords :
computational geometry; dexterous manipulators; distributed control; solid modelling; surface fitting; 3D soft-fingered grasping; 3D soft-fingered manipulation; Lagrangian system; parallel-distributed model; planar surface; rigid prism; robotic finger; Brain modeling; Deformable models; Fingers; Grasping; Lagrangian functions; Orbital robotics; Parallel robots; Potential energy; Robotics and automation; Shape;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152451