DocumentCode
2602750
Title
Two-step grasping strategy for capturing a stick-shaped object
Author
Higashimori, Mitsuru ; Kimura, Maiko ; Ishii, Idaku ; Kaneko, Makoto
Author_Institution
Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
907
Lastpage
912
Abstract
This paper discusses 2D dynamic preshaping issue for a stick-shaped object changing both position and orientation with respect to time. We propose the two-step grasping strategy where it first stops the rotational motion by choosing an appropriate finger position, and then stops the translational motion step by step for completely making the object stationary. We confirm the basic idea by simulation.
Keywords
dexterous manipulators; grippers; manipulator dynamics; motion control; 2D dynamic preshaping; dynamic manipulation; finger position; grasping; rotational motion; stick-shaped object; translational motion; Acceleration; Computer vision; Data mining; Fingers; Grasping; Manipulator dynamics; Modeling; Robot sensing systems; Shape; Systems engineering and theory; Dynamic Manipulation; Grasping Strategy; High Speed Capturing; Preshaping; Rotating Object;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8912-3
Type
conf
DOI
10.1109/IROS.2005.1545527
Filename
1545527
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