ICRA'09 Paper Abstract


Paper FrB5.3

Inoue, Takahiro (Okayama Prefectural University), Hirai, Shinichi (Ritsumeikan Univ.)

Parallel-distributed Model in Three-dimensional Soft-fingered Grasping and Manipulation

Scheduled for presentation during the Regular Sessions "Grasping - II" (FrB5), Friday, May 15, 2009, 11:10−11:30, 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 Multifingered Hands, Grasping, Dexterous Manipulation


This paper focuses on three-dimensional grasping and manipulation by robotic fingers with soft fingertips. The authors have proposed two-dimensional parallel-distributed model of a soft fingertip to describe the dependency of its potential energy to the relative orientation between the fingertip and the object. Here we extend the previous two-dimensional model to three-dimensional model, incorporating the rotation in three-dimensional space. We formulate the elastic potential energy stored in a soft fingertip due to the contact with the planar surface in three-dimensional space. We sketch the Lagrangian of the system consisting of a rigid prism grasped by three fingers with soft fingertips.



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