A stable grasping and manipulating control method based on grasp plane

Shoyo Hyodo, Ryogo Kubo, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

In this paper, a method for dividing grasping and manipulating control into grasp plane control and inside grasp plane control is proposed. Grasp plane control is realized by controlling center of gravity (COG) of three end-effectors and posture of the grasp plane. Inside grasp plane control is realized by controlling grasping shape and contact force which exists on the grasp plane. To avoid any danger entailed by dropping of a grasped object, a method for compensating contact force to a grasped object by external force is also proposed. This external force is estimated from normal force, and this force is not affected by frictional force. Thus, stable grasping and manipulating control taking external force parallel to the grasp plane into account is realized. The validity of the proposed systems is confirmed by the experimental results.

Original languageEnglish
Title of host publicationIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages4030-4035
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Hyodo, S., Kubo, R., & Ohnishi, K. (2006). A stable grasping and manipulating control method based on grasp plane. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 4030-4035). [4153367] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.348086