No abstract

No abstract

This paper proposes dynamic capturing strategies where a 2D stick-shaped object with both translational and rotational velocities is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired velocity of the object under the friction independent collision. Once the object results in a pure translational motion whose direction is perpendicular to the longitudinal axis of object, it is guaranteed that two fingers can always capture the object irrespective of friction coefficient. By using this nature, we show both 2-step and 3step capturing strategies for a 2D stick-shaped object whose width is negligibly small. The 3-step capturing strategy can guide the object in an arbitrary direction, while the 2-step one can do it only in a particular direction. The 3-step capturing strategy is demonstrated by experiment for verifying our idea.

No abstract

Preshaping is an important issue for a robot hand to grasp a moving object successfully. Generally, a moving object in 3D space has rotational motion as well as translational one. This study discusses dynamic preshaping issue for such an object changing the posture momentarily. In this paper, we focus on determining the timing for grasping the object. We first show a strategy to extract candidates of timing for grasping. We also verify the proposed strategy by experiments using a high speed hand with the assistance of a high speed vision.