Title :
Manipulation of a circular object without object information
Author :
Ozawa, R. ; Arimoto, S. ; Nguyen, P.T.A. ; Yoshida, M. ; Bae, J.H.
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
Abstract :
This paper proposes a manipulation of a circular object in a horizontal plane by a pair of finger robots. This method guarantees the dynamic stability of the system and does not require any object models and object sensing to manipulate the object. It is assumed that there is no friction between the object and the horizontal plane and it is possible to be adequately large friction between the fingertips and the object. We examine the condition of stable grasping of a circular object and propose controllers for stable grasping and for controlling its approximate relative orientation angle without object sensing. The experimental results show the validity of the controller.
Keywords :
dexterous manipulators; manipulator dynamics; stability; circular object manipulation; finger robot; horizontal plane; relative orientation angle; system dynamic stability; table grasping; Fingers; Friction; Grasping; Manipulator dynamics; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Stability; Tactile sensors;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545470