scholarly journals Manipulation Control of Grasped Object based on Nonholonomy of Rolling Contact by Two-fingered Robot Hand with Constraints on Configuration Coordinates

2018 ◽  
Vol 54 (3) ◽  
pp. 320-330
Author(s):  
Akira NAKASHIMA
Keyword(s):  
Rolling Contact ◽  
Robot Hand ◽  
Object Based

In-hand forward and inverse kinematics with rolling contact

Robotica ◽  
2017 ◽  
Vol 35 (12) ◽  
pp. 2381-2399 ◽  
Author(s):  
Lei Cui ◽  
Jie Sun ◽  
Jian S. Dai
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Rolling Contact ◽  
Moving Frame ◽  
Robot Hand ◽  
Robotic Hands ◽  
Geometric Framework ◽  
Univariate Polynomial ◽  
Forward And Inverse Kinematics ◽  
Exponential Formula

SUMMARYRobotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

Adaptive Coordinated Control of Multi-Fingered Robot Hand

2009 ◽  
Vol 21 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Satoshi Ueki ◽  
◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri
Keyword(s):  
Contact Force ◽  
Coordinated Control ◽  
Object Motion ◽  
Rolling Contact ◽  
Asymptotic Convergence ◽  
Robot Hand ◽  
Rigid Object ◽  
Reference Velocity ◽  
Controller Performance ◽  
Object Reference

This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object, and demonstrates experimental results. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The joint reference velocity consists of filtered contact force error, integral contact force error, and object reference velocity. The asymptotic convergence of object motion and contact force was proven by the Lyapunov-like Lemma. The controller performance is shown in experiments implemented on Gifu Hand III.

The Reliability of Object-Based Attention Following Peripheral and Central Cues

2000 ◽  
Author(s):  
Catherine M. Arrington ◽  
Dale Dagenbach ◽  
Maura K. McCartan ◽  
Thomas H. Carr
Keyword(s):  
Object Based ◽  
Central Cues

Object-based cuing effects depend on peripheral cues

2009 ◽  
Author(s):  
Elisabeth Hein ◽  
Cathleen M. Moore
Keyword(s):  
Object Based ◽  
Peripheral Cues
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