Study on hemispherical soft-fingered handling for fine manipulation by minimum dof robotic hand
T Inoue, S Hirai - … on Robotics and Automation, 2006. ICRA …, 2006 - ieeexplore.ieee.org
This paper provides that an elastic force and an elastic potential energy due to the
deformation of soft fingers, which are previously derived, can be calculated into
straightforward equations in an analytical way. These formulae lead to the fact that the
potential energy of a soft fingertip is a function of two variables, and has a local minimum
through the elastic rolling of a contacting object. We formulate four geometric constraints in
grasping motions of a rigid object by means of two degrees of freedom robotic hand that has …
deformation of soft fingers, which are previously derived, can be calculated into
straightforward equations in an analytical way. These formulae lead to the fact that the
potential energy of a soft fingertip is a function of two variables, and has a local minimum
through the elastic rolling of a contacting object. We formulate four geometric constraints in
grasping motions of a rigid object by means of two degrees of freedom robotic hand that has …
Study on hemispherical soft-fingered handling for fine manipulation by minimum DOF robotic hand
S Hirai, T Inoue - Proceedings 2006 IEEE International Conference on …, 2006 - cir.nii.ac.jp
This paper provides that an elastic force and an elastic potential energy due to the
deformation of soft fingers, which are previously derived, can be calculated into
straightforward equations in an analytical way. These formulae lead to the fact that the
potential energy of a soft fingertip is a function of two variables, and has a local minimum
through the elastic rolling of a contacting object. We formulate four geometric constraints in
grasping motions of a rigid object by means of two degrees of freedom robotic hand that has …
deformation of soft fingers, which are previously derived, can be calculated into
straightforward equations in an analytical way. These formulae lead to the fact that the
potential energy of a soft fingertip is a function of two variables, and has a local minimum
through the elastic rolling of a contacting object. We formulate four geometric constraints in
grasping motions of a rigid object by means of two degrees of freedom robotic hand that has …
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