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This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object. It is then shown that, in the case of a pair of planer fingers with two and three joints and a 2D rigid object with parallel or non-parallel flat surfaces, there exists a sensory-motor coordinated control signal...
This paper is concerned with concurrent grasping and manipulation by a robotic arm with a pair of fingers. In general, a robotic manipulator consists of two parts, an arm for manipulation and a hand for grasping, and therefore it arises a problem of undesired vibrations owing to combining two parts with different scales of inertia moments. This paper regards two parts as a single one, and proposes...
A mathematical model expressing motion of a pair of multi-DOF robot fingers with hemi-spherical ends grasping a 3-D rigid object with parallel flat surfaces is derived together with non-holonomic constraints. By referring to the fact that human grasp an object in the form of precision prehension dynamically and stably by opposable forces between the thumb and another finger (index or middle finger),...
This paper proposes a manipulation of a circular object in a horizontal plane by a pair of finger robots. This method is a quite simple because it does not need to solve any inverse dynamics and inverse kinematics to construct the control input. We examine the condition of stable grasping of a circular object and propose a method for stable grasping without object sensing and for controlling its approximate...
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