TY - GEN
T1 - Strategy of picking up thin plate by robot hand using deformation of soft fingertip
AU - Matsuno, Takayuki
AU - Kanada, Kensaku
AU - Arai, Fumihito
AU - Matsuura, Hideo
AU - Fukuda, Toshio
PY - 2005/12/1
Y1 - 2005/12/1
N2 - In this paper, grasping strategy using deformation of soft finger is addressed. Soft fingers, which are made of macromolecular and have large elastic deformation, have gotten a lot of attention. Soft fingers have a peculiarity that high friction force, which stabilizes a grasping condition, is generated by expansion of contact area between tip of soft finger and grasping object. However, until now nobody focuses on the fact that deformation of soft finger enables multi-fingered hand to generate force to manipulate a object which has high aspect ratio and restricted by environment. Accordingly, we focus on a task to pick up a thin plate on a floor using deformation of soft finger. The effectiveness of grasping strategy is confirmed by experiments.
AB - In this paper, grasping strategy using deformation of soft finger is addressed. Soft fingers, which are made of macromolecular and have large elastic deformation, have gotten a lot of attention. Soft fingers have a peculiarity that high friction force, which stabilizes a grasping condition, is generated by expansion of contact area between tip of soft finger and grasping object. However, until now nobody focuses on the fact that deformation of soft finger enables multi-fingered hand to generate force to manipulate a object which has high aspect ratio and restricted by environment. Accordingly, we focus on a task to pick up a thin plate on a floor using deformation of soft finger. The effectiveness of grasping strategy is confirmed by experiments.
UR - http://www.scopus.com/inward/record.url?scp=33846168119&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846168119&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570460
DO - 10.1109/ROBOT.2005.1570460
M3 - Conference contribution
AN - SCOPUS:33846168119
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2326
EP - 2331
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -