Grasp and manipulation of multiple objects

被引：0
|
作者：
Kaneko, M [1 ]
Harada, K [1 ]
机构：
[1] Hiroshima Univ, Higashihiroshima 7398527, Japan
来源：
ROBOTICS RESEARCH | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper discusses grasp and manipulation of multiple objects initially placed on a table. We show the kinematically necessary and sufficient condition for lifting up two cylindrical objects from a table by finger links in contact with them. It is guaranteed that if pushing points between a finger link and object is lower than the contact point between objects, two objects are detached from the table. For two grasped objects, we further show a sufficient condition for producing a small relative displacement between objects. This sufficient condition given as the function of joint torques enables us to achieve a primitive manipulation of two objects within the hand. The basic idea is also experimentally verified by using a three-fingered robot hand.
引用
收藏
页码：33 / 39
页数：7
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