ICRA'09 Paper Abstract


Paper FrC5.4

Yoshida, Morio (RIKEN), Arimoto, Suguru (Ritsumeikan University), Tahara, Kenji (Kyushu University)

Modeling and Control of a Pair of Robot Fingers with Saddle Joint under Orderless Actuations

Scheduled for presentation during the Regular Sessions "Grasping - III" (FrC5), Friday, May 15, 2009, 14:30−14:50, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Grasping, Multifingered Hands, Dynamics


A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall dynamics applied by the proposed control input.



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