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.
This is a preview of subscription content, access via your institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
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)
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)
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)
Johnson, K.L.: Contact Mechanics. Cambridge University Press, Cambridge (1985)
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)
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)
Doulgeri, Z., Fasoulas, J., Arimoto, S.: Feedback Control for Object Manipulation by a pair of Soft Tip Fingers. Robotica 20, 1–11 (2002)
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)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Inoue, T., Hirai, S. (2008). Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation. 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_2
Download citation
DOI: https://doi.org/10.1007/978-3-540-77457-0_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
eBook Packages: EngineeringEngineering (R0)