Dynamic In-hand Sliding Manipulation

被引：0

作者：

Shi, Jian ^{[1
]}

Woodruff, J. Zachary ^{[1
]}

Lynch, Kevin M. ^{[1
]}

机构：

[1] Northwestern Univ, Neurosci & Robot Lab NxR, Evanston, IL 60208 USA

来源：

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年

基金：

美国国家科学基金会;

关键词：

MULTIFINGERED HAND; FRICTION;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.

引用

页码：870 / 877

页数：8

共 10 条

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