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Manipulation of a circular object in a horizontal plane by two finger robots

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5 Author(s)
Ozawa, R. ; Dept. of Robotics, Ritsumeikan Univ., Shiga ; Arimoto, S. ; Nguyen, P.T.A. ; Yoshida, M.
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This paper proposes a manipulation of a circular object in a horizontal plane by a pair of finger robots. This method is a quite simple because it does not need to solve any inverse dynamics and inverse kinematics to construct the control input. We examine the condition of stable grasping of a circular object and propose a method for stable grasping without object sensing and for controlling its approximate relative orientation angle. The experimental results show the validity of the controller

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004