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Dynamic grasping of an arbitrary polyhedral object

Published online by Cambridge University Press:  01 October 2012

Akihiro Kawamura ,
Kenji Tahara ,
Ryo Kurazume  and
Tsutomu Hasegawa
Akihiro Kawamura*
Affiliation:
Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, 819-0395, Japan
Kenji Tahara
Affiliation:
Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, 819-0395, Japan
Ryo Kurazume
Affiliation:
Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, 819-0395, Japan
Tsutomu Hasegawa
Affiliation:
Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, 819-0395, Japan
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper proposes a novel dynamic stable grasping method of an arbitrary polyhedral object for a hand-arm system with hemispherical fingertips. This method makes it possible to satisfy the force/torque equilibrium condition for the immobilization of the object without knowledge of the object. Two control signals are proposed which generate grasping forces normal and tangential to an object surface in a final state. The dynamics of the overall system is modeled and analyzed theoretically. We demonstrate the stable grasping of an arbitrary polyhedral object using the proposed controller through numerical simulations and experiments using a newly developed mechanical hand-arm system.

Keywords

GraspingRedundant ManipulatorsRobot DynamicsRobotic HandsControl of Robotic Systems
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 511 - 523
Copyright
Copyright © Cambridge University Press 2012 

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