Friction Independent Dynamic Capturing Strategy for a 2D Stick-shaped Object

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.

Robot Grasp Control

“…For the planar case the reader is referred to Mason (1982), Brost (1991), Peshkin and Sanderson (1988), Lynch (1996), and references therein. Several approaches have been proposed to planning and execute dexterous manipulation tasks in three dimensions continues in Cherif and Gupta (1999), Han et al (2000), and Higashimori et al (2007). Dexterous manipulation can be evaluated with manipulability ellipsoids of velocity and force as proposed in Chiacchio et al (1991) for multiplefingered systems and more recently in Prattichizzo et al (2012) for underactuated robotic hands.…”