Title :
Robust grasping manipulation of deformable objects
Author :
Hirai, Shinichi ; Tsuboi, Tatsuhiko ; Wada, Takahiro
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
Abstract :
A simple but robust control law for the grasping manipulation of deformable objects is presented. In the handling of deformable objects, grasping and manipulation must be performed simultaneously despite uncertainties during the handling process. We propose a control law to perform grasping and manipulation of deformable objects using a real time vision system
Keywords :
dexterous manipulators; motion control; robot vision; robust control; deformable objects; real time vision system; robust control law; robust grasping manipulation; Deformable models; Electrical equipment industry; Fingers; Food industry; Force control; Grasping; Industrial control; Intelligent robots; Robust control; Robustness;
Conference_Titel :
Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
0-7803-7004-X
DOI :
10.1109/ISATP.2001.929069
