DocumentCode
435264
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
Volume
2
fYear
2004
fDate
2-6 Nov. 2004
Firstpage
1030
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE
Print_ISBN
0-7803-8730-9
Type
conf
DOI
10.1109/IECON.2004.1431716
Filename
1431716
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