By Topic

Control of an object with parallel surfaces by a pair of finger robots without object sensing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Ozawa, R. ; Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan ; Arimoto, S. ; Nakamura, S. ; Ji-Hun Bae

This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile sensors, force sensors, or visual sensors. The control inputs are also quite simple and do not need to solve either inverse kinematics or inverse dynamics. The stability of the closed-loop system is proved, and simulation and experimental results validate the control method.

Published in:

Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 5 )