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This paper characterizes the dynamic deformation of soft fingertips applied to multi-fingered object manipulations of humanoid robots and analyzes its significance for multi-fingered operations. To this end, we present a dynamic model for soft-fingered object manipulations. For analyzing the control performance of soft-fingered manipulating tasks, we present a dynamic manipulation control scheme that considers the deformation effects of soft fingertips. The simulation results validate the influence of the dynamic deformation of soft fingertips during manipulation in a two-fingered operation, and will enable us to recognize its significance for precise manipulating tasks.
Published in:
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
(Volume:3
)
Date of Conference: 26 April-1 May 2004
- Page(s):
- 2944 - 2950 Vol.3
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-8232-3
- INSPEC Accession Number:
- 8330180
- Digital Object Identifier :
- 10.1109/ROBOT.2004.1307508
- Product Type:
- Conference Publications
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