Strategy of picking up thin plate by robot hand using deformation of soft fingertip

Takayuki Matsuno, Kensaku Kanada, Fumihito Arai, Hideo Matsuura, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2326-2331
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Matsuno, T., Kanada, K., Arai, F., Matsuura, H., & Fukuda, T. (2005). Strategy of picking up thin plate by robot hand using deformation of soft fingertip. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 2326-2331). [1570460] https://doi.org/10.1109/ROBOT.2005.1570460