Two-step grasping strategy for capturing a stick-shaped object

Higashimori, Mitsuru; Kimura, M.; Ishii, Idaku; Kaneko, Makoto

doi:10.1109/iros.2005.1545527

Cited by 2 publications

(2 citation statements)

References 12 publications

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“…The 2-step capturing strategy is based on the idea in our former work [7]. We are reformulating the strategy with the friction independent collision in this paper.…”

Section: B the 2-step Capturing Strategymentioning

confidence: 99%

“…Based on the above consideration, we have proposed the basic concept of two-step strategy for capturing a stickshaped object in our former work [7]. However, the strategy has two disadvantages; one is that the strategy is based on the assumption where the friction coefficient between the fingertip and the object is zero (μ = 0), and the other is that the strategy cannot guide the object to an arbitrary direction.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Higashimori

Kimura

Ishii

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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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.

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“…The 2-step capturing strategy is based on the idea in our former work [7]. We are reformulating the strategy with the friction independent collision in this paper.…”

Section: B the 2-step Capturing Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%