Advertisement

Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation

  • Takaniro Inoue
  • Shinichi Hirai
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 39)

Summary

This paper describes mechanical modeling of soft-fingered grasping and manipulation. Here, we used a simple hand consisting of a pair of 1-DOF rotational fingers with hemispherical soft fingertips to investigate the mechanics of soft-fingered grasping and manipulation. Based on the observations of soft-fingered grasping and manipulation, we propose a parallel distributed model with tangential deformation of hemispherical soft fingertips. We experimentally verified our proposed parallel distributed model. We then show that simulation results based on the parallel distributed model agree with the observations well.

Keywords

Contact Force Posture Control Maximum Displacement Elastic Force Elastic Element 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Xydas, N., Kao, I.: Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics with Experimental Results. Int. J. of Robotics Research 18(8), 941–950 (1999)CrossRefGoogle Scholar
  2. 2.
    Xydas, N., Bhagavat, M., Kao, I.: Study of Soft-Finger Contact Mechanics Using Finite Elements Analysis and Experiments. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2179–2184 (2000)Google Scholar
  3. 3.
    Kao, I., Yang, F.: Stiffness and Contact Mechanics for Soft Fingers in Grasping and Manipulation. IEEE Trans. on Robotics and Automation 20(1), 132–135 (2004)CrossRefGoogle Scholar
  4. 4.
    Johnson, K.L.: Contact Mechanics. Cambridge University Press, Cambridge (1985)MATHGoogle Scholar
  5. 5.
    Arimoto, S., Tahara, K., Yamaguchi, M., Nguyen, P., Han, H.Y.: Principle of Superposition for Controlling Pinch Motions by means of Robot Fingers with Soft Tips. Robotica 19, 21–28 (2001)CrossRefGoogle Scholar
  6. 6.
    Nguyen, P., Arimoto, S.: Performance of Pinching Motions of Two Multi-DOF Robotic Fingers with Soft-Tips. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2344–2349 (2001)Google Scholar
  7. 7.
    Doulgeri, Z., Fasoulas, J., Arimoto, S.: Feedback Control for Object Manipulation by a pair of Soft Tip Fingers. Robotica 20, 1–11 (2002)CrossRefGoogle Scholar
  8. 8.
    Fasoulas, J., Doulgeri, Z.: Equilibrium Conditions of a Rigid Object Grasped by Elastic Rolling Contacts. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 789–794 (2004)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Takaniro Inoue
    • 1
  • Shinichi Hirai
    • 1
  1. 1.Dept. RoboticsRitsumeikan Univ.KusatsuJapan

Personalised recommendations