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 Proceedings (Industrial Electronics Conference)
Pages4030-4035
Number of pages6
DOIs
Publication statusPublished - 2006
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Other

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

Fingerprint

End effectors
Gravitation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

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

A stable grasping and manipulating control method based on grasp plane. / Hyodo, Shoyo; Kubo, Ryogo; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2006. p. 4030-4035 4153367.

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

Hyodo, S, Kubo, R & Ohnishi, K 2006, A stable grasping and manipulating control method based on grasp plane. in IECON Proceedings (Industrial Electronics Conference)., 4153367, pp. 4030-4035, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.348086
Hyodo S, Kubo R, Ohnishi K. A stable grasping and manipulating control method based on grasp plane. In IECON Proceedings (Industrial Electronics Conference). 2006. p. 4030-4035. 4153367 https://doi.org/10.1109/IECON.2006.348086
Hyodo, Shoyo ; Kubo, Ryogo ; Ohnishi, Kouhei. / A stable grasping and manipulating control method based on grasp plane. IECON Proceedings (Industrial Electronics Conference). 2006. pp. 4030-4035
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