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Rolling-based manipulation for multiple objects

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3 Author(s)
Harada, K. ; Dept. of Ind. & Syst. Eng., Hiroshima Univ., Japan ; Kaneko, M. ; Tsuji, T.

This paper discusses the manipulation of multiple objects under rolling contacts. For manipulating multiple objects, the following two key issues do not arise in the manipulation of a single object: 1) each object's motion is restricted by the other objects; and 2) the contact force among objects is not controlled directly. As for (1), we first formulate the motion constraint for the whole grasp system, and then provide a necessary condition for manipulating multiple objects uniquely. As for (2), we provide a condition for determining the contact forces among objects uniquely. We further show a sufficient condition for manipulating multiple objects within the object motion constraint. Under this sufficient condition, we propose a control scheme for object motion by taking the motion constraint into account. Simulation and experimental results are provided to confirm our idea

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:16 ,  Issue: 5 )

Date of Publication:

Oct 2000

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