Characterizing the dynamic deformation of soft fingertips and analyzing its significance for multi-fingered operations

Author

Byoung-Ho Kim ; Hirai, Shinichi

Author_Institution

Bio-Mimetic Control Res. Center, RIKEN, Aichi, Japan

Volume

3

fYear

2004

fDate

26 April-1 May 2004

Firstpage

2944

Abstract

This paper characterizes the dynamic deformation of soft fingertips applied to multi-fingered object manipulations of humanoid robots and analyzes its significance for multi-fingered operations. To this end, we present a dynamic model for soft-fingered object manipulations. For analyzing the control performance of soft-fingered manipulating tasks, we present a dynamic manipulation control scheme that considers the deformation effects of soft fingertips. The simulation results validate the influence of the dynamic deformation of soft fingertips during manipulation in a two-fingered operation, and will enable us to recognize its significance for precise manipulating tasks.

Keywords

dexterous manipulators; humanoid robots; dynamic deformation; dynamic manipulation control scheme; humanoid robots; multifingered object manipulations; soft fingertips; Deformable models; Fingers; Force control; Grasping; Humanoid robots; Intelligent robots; Manipulator dynamics; Motion control; Performance analysis; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307508

Filename

1307508