Abstract
We report on our newly developed two-fingered robotic hand with soft and thin skin. This hand is basically controlled by a position-based control algorithm. However, it can realize desired grasping force due to the soft skin while maintaining stability of the system. For an experimental validation of this concept, we conducted following the three kinds of manipulation tasks: manipulating of a cubic object, opening and closing of a bottle cap, and turning of a crank. These results show that this two-fingered hand can perform various manipulation tasks of objects in three dimensional space.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Murakami, K., Hasegawa, T.: Novel Fingertip Equipped with Soft Skin and Hard Nail for Dexterous Multi-fingered Robotic Manipulation. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 708–713 (2003)
Arimoto, S., Nguyen, P.A.N., Han, H.-Y., Doulgeri, Z.: Dynamics and control of a set of dual fingers with soft tips. Robotica 18, 71–80 (2000)
Xydas, N., Kao, I.: Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results. International Journal of Robotics Research 18(8), 941–950 (1999)
Maeno, T., Hiromitsu, S., Kawai, T.: Control of grasping force control by detecting stick/slip distribution at the curved surface of an elastic finger. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 3896–3901 (2000)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Yoshikawa, T., Koeda, M., Fukuchi, H., Hirakawa, A. (2008). Stable Grasp and Manipulation in 3D Space with 2-Soft-Fingered Robot Hand. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_5
Download citation
DOI: https://doi.org/10.1007/978-3-540-77457-0_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
eBook Packages: EngineeringEngineering (R0)