Grasp and manipulation by soft finger with 3-dimensional deformation

Akira Nakashima; Takeshi Shibata; Yoshikazu Hayakawa

doi:10.1117/12.784504

9 January 2008 Grasp and manipulation by soft finger with 3-dimensional deformation

Akira Nakashima, Takeshi Shibata, Yoshikazu Hayakawa

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942V (2008) https://doi.org/10.1117/12.784504
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

In this paper, we consider control of grasp and manipulation of an object in 3-dimensional space by a 3-fingered hand robot with soft finger-tips. We firstly propose a 3-dimensional deformation model of a semispherical soft fingertip and confirm its relevance by experiments. Second, we derive the rolling contact kinematics and the dynamical equations of the fingers and the object where the 3-dimensional deformation is considered. For the system, we thirdly propose a method to regulate the object and the internal force with the information of the hand, the object and the deformation. Simulations are shown to prove the effectiveness of the control method.

Citation Download Citation

Akira Nakashima, Takeshi Shibata, and Yoshikazu Hayakawa "Grasp and manipulation by soft finger with 3-dimensional deformation", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942V (9 January 2008); https://doi.org/10.1117/12.784504

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