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Proceedings Paper

Grasp and manipulation by soft finger with 3-dimensional deformation
Author(s): Akira Nakashima; Takeshi Shibata; Yoshikazu Hayakawa
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Paper Abstract

In this paper, we consider control of grasp and manipulation of an object in 3-dimensional space by a 3-fingered hand robot with soft finger-tips. We firstly propose a 3-dimensional deformation model of a semispherical soft fingertip and confirm its relevance by experiments. Second, we derive the rolling contact kinematics and the dynamical equations of the fingers and the object where the 3-dimensional deformation is considered. For the system, we thirdly propose a method to regulate the object and the internal force with the information of the hand, the object and the deformation. Simulations are shown to prove the effectiveness of the control method.

Paper Details

Date Published: 9 January 2008
PDF: 8 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942V (9 January 2008); doi: 10.1117/12.784504
Show Author Affiliations
Akira Nakashima, Nagoya Univ. (Japan)
Takeshi Shibata, Nagoya Univ. (Japan)
Yoshikazu Hayakawa, Nagoya Univ. (Japan)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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