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

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

doi:10.1109/ROBOT.2005.1570460

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 proceeding › Conference contribution

8 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 language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	2326-2331
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570460
Publication status	Published - Dec 1 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2005.1570460

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 of the 2005 IEEE International Conference on Robotics and Automation (pp. 2326-2331). [1570460] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570460

Strategy of picking up thin plate by robot hand using deformation of soft fingertip. / Matsuno, Takayuki; Kanada, Kensaku; Arai, Fumihito; Matsuura, Hideo; Fukuda, Toshio.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2326-2331 1570460 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 of the 2005 IEEE International Conference on Robotics and Automation., 1570460, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 2326-2331, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570460

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author = "Takayuki Matsuno and Kensaku Kanada and Fumihito Arai and Hideo Matsuura and Toshio Fukuda",

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AU - Kanada, Kensaku

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AU - Fukuda, Toshio

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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.

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

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