Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool

Taisuke Sugaiwa, Kuniyuki Takahashi, Hiroyuki Kano, Hiroyasu Iwata, Shigeki Sugano

    研究成果: Conference contribution

    2 引用 (Scopus)

    抄録

    This study aims to construct a handling and grasp control method by multi-fingered robot hand with soft skin for the precision operation of cylindrical tools. We believe that the key to the improvement of the accuracy of the tool operation is to use an additional grasping point to reduce the tool's posture fluctuation derived from the external force exerted at the tool nib. We focus two factors that cause the tool's posture fluctuation. One is the rotation movement of the tool around the axis between two contacts by finger-tips. The other one is the deflection of the soft skin. We propose the effective allocation of the addition grasping point from the view point of the reduction of the tool's posture fluctuation. Our control architecture is a customized combination of resolved motion rate control and hybrid control which maintains stable grasping and handles the tool along with the desired trajectory of the tool nib. It is validated through the physical tests using the actual multi-fingered robot hand that the accuracy of the tool nib trajectory is improved by proposed control method.

    元の言語English
    ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    ページ733-738
    ページ数6
    DOI
    出版物ステータスPublished - 2011
    イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket
    継続期間: 2011 12 72011 12 11

    Other

    Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    Phuket
    期間11/12/711/12/11

    Fingerprint

    End effectors
    Skin
    Trajectories
    Robots

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition

    これを引用

    Sugaiwa, T., Takahashi, K., Kano, H., Iwata, H., & Sugano, S. (2011). Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool. : 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 733-738). [6181373] https://doi.org/10.1109/ROBIO.2011.6181373

    Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool. / Sugaiwa, Taisuke; Takahashi, Kuniyuki; Kano, Hiroyuki; Iwata, Hiroyasu; Sugano, Shigeki.

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 733-738 6181373.

    研究成果: Conference contribution

    Sugaiwa, T, Takahashi, K, Kano, H, Iwata, H & Sugano, S 2011, Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool. : 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181373, pp. 733-738, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181373
    Sugaiwa T, Takahashi K, Kano H, Iwata H, Sugano S. Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool. : 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 733-738. 6181373 https://doi.org/10.1109/ROBIO.2011.6181373
    Sugaiwa, Taisuke ; Takahashi, Kuniyuki ; Kano, Hiroyuki ; Iwata, Hiroyasu ; Sugano, Shigeki. / Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. pp. 733-738
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