Skip to main content
×
Home
    • Aa
    • Aa

Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips

  • Efi Psomopoulou (a1), Daiki Karashima (a2), Zoe Doulgeri (a1) and Kenji Tahara (a2)
Summary
SUMMARY

There is a large gap between reality and grasp models that are currently available because of the static analysis that characterizes these approaches. This work attempts to fill this need by proposing a control law that, starting from an initial contact state which does not necessarily correspond to an equilibrium, achieves dynamically a stable grasp and a relative finger orientation in the case of pinching an object with arbitrary shape via rolling soft fingertips. Controlling relative finger orientation may improve grasping force manipulability and allow the appropriate shaping of the composite object consisted of the distal links and the object, for facilitating subsequent tasks. The proposed controller utilizes only finger proprioceptive measurements and is not based on the system model. Simulation and experimental results demonstrate the performance of the proposed controller with objects of different shapes.

Copyright
Corresponding author
*Corresponding author. E-mail: doulgeri@eng.auth.gr
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords:

Type Description Title
VIDEO
Supplementary Materials

Psomopoulou supplementary material
Psomopoulou supplementary material 1

 Video (14.8 MB)
14.8 MB

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 38 *
Loading metrics...

Abstract views

Total abstract views: 135 *
Loading metrics...

* Views captured on Cambridge Core between 14th August 2017 - 21st September 2017. This data will be updated every 24 hours.