Title :
A model of soft contact-based manipulation systems and its application to writing tasks
Author :
Kim, Byoung-Ho ; Hosoe, Shigeyuki
Author_Institution :
Bio-Mimetic Control Res. Center, RIKEN, Nagoya, Japan
Abstract :
This paper presents a model for soft contact-based manipulation systems and also deals with a soft-fingered writing task in terms of the deformational influence of soft fingertips. In order to evaluate the motion control of a soft-fingered writing task, we use a manipulation control scheme that considers the deformational properties of soft fingertips. Through simulation results, we show that the softness of fingertips plays an important factor when the precision of a writing task is highly considerable.
Keywords :
dexterous manipulators; motion control; deformational influence; manipulation control scheme; manipulation system; motion control; soft contact; soft fingertip; soft-fingered writing task; Damping; Deformable models; Electronic mail; Fingers; Grasping; Humanoid robots; Intelligent robots; Motion control; Viscosity; Writing;
Conference_Titel :
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE
Print_ISBN :
0-7803-8730-9
DOI :
10.1109/IECON.2004.1431716
