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 - IEEE International Conference on Robotics and Automation |
| Pages | 2326-2331 |
| Number of pages | 6 |
| Volume | 2005 |
| DOIs | |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | 2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005 |
Other
| Other | 2005 IEEE International Conference on Robotics and Automation |
|---|---|
| Country | Spain |
| City | Barcelona |
| Period | 4/18/05 → 4/22/05 |
Fingerprint
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
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 - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 2326-2331 1570460.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
Y1 - 2005
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
VL - 2005
SP - 2326
EP - 2331
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -