Robust grasping manipulation of deformable objects

被引：31

作者：

Hirai, S ^{[1
]}

Tsuboi, T ^{[1
]}

Wada, T ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan

来源：

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2001): ASSEMBLY AND DISASSEMBLY IN THE TWENTY-FIRST CENTURY | 2001年

关键词：

D O I：

10.1109/ISATP.2001.929069

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A simple but robust control law for the grasping manipulation of deformable objects is presented. In the handling of deformable objects, grasping and manipulation must be performed simultaneously despite uncertainties during the handling process. We will propose a control law to perform grasping and manipulation of deformable objects using a realtime vision system.

引用

页码：411 / 416

页数：4

共 6 条

[1]

[Anonymous], 2000, ROBOT MANIPULATION D

[2]

[Anonymous], P IEEE INT C ROB AUT

[3] Indirect simultaneous positioning of deformable objects with multi-pinching fingers based on an uncertain model [J].

Hirai, S ;

Wada, T .

ROBOTICA, 2000, 18 :3-11

[4]

ONO E, 1995, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3, P441, DOI 10.1109/IROS.1995.525922

[5]

TAYLOR PM, 1990, SENSORY ROBOTICS HAN

[6]

TSUBOI T, 2001, P IEEE INT C ROB AUT

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