Title :
Two-step grasping strategy for capturing a stick-shaped object
Author :
Higashimori, Mitsuru ; Kimura, Maiko ; Ishii, Idaku ; Kaneko, Makoto
Author_Institution :
Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan
Abstract :
This paper discusses 2D dynamic preshaping issue for a stick-shaped object changing both position and orientation with respect to time. We propose the two-step grasping strategy where it first stops the rotational motion by choosing an appropriate finger position, and then stops the translational motion step by step for completely making the object stationary. We confirm the basic idea by simulation.
Keywords :
dexterous manipulators; grippers; manipulator dynamics; motion control; 2D dynamic preshaping; dynamic manipulation; finger position; grasping; rotational motion; stick-shaped object; translational motion; Acceleration; Computer vision; Data mining; Fingers; Grasping; Manipulator dynamics; Modeling; Robot sensing systems; Shape; Systems engineering and theory; Dynamic Manipulation; Grasping Strategy; High Speed Capturing; Preshaping; Rotating Object;
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.2005.1545527
