Dynamics and stability of blind grasping of a 3-dimensional object under non-holonomic constraints (original) (raw)

Abstract

A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel flat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger (index or middle finger), a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing (this is called “blind grasp” in this paper). The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named “stability on a manifold”. Preliminary simulation results are shown to verify the validity of the theoretical results.

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Authors and Affiliations

  1. Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, 525-8577, Japan
    Suguru Arimoto, Morio Yoshida & Ji-Hun Bae

Authors

  1. Suguru Arimoto
  2. Morio Yoshida
  3. Ji-Hun Bae

Corresponding author

Correspondence toSuguru Arimoto.

Additional information

This work was supported in part by the Grant-in-Aid for Exploratory Research of the JSPS (No. 16656085).

Suguru Arimoto was born on August 3, 1936 in Hiroshima, Japan. He received a B.S. degree in Mathematics from Kyoto University, Japan, in 1959, and a Ph.D. Degree in control engineering from the University of Tokyo, Japan, in 1967. From 1959 to 1961 he was with Oki Electric Industry Co. Ltd., Tokyo, as an engineer in the Electric Computer Department. From 1962 to 1967 he was a Research Assistant, and from 1967 to 1968 a Lecturer in the Department of Mathematical Engineering and Information Physics at the University of Tokyo. In 1968 he joined the Faculty of Engineering Science at Osaka University, Osaka, Japan, as Associate Professor, and in 1973 he was promoted to Professor of Systems Engineering. In 1988 he was invited to join the University of Tokyo as Professor of the Department of Mathematical Engineering and Information Physics. In 1997 he retired from the University of Tokyo and moved to Ritsumeikan University, where he contributed to the establishment of a new department. Since 1997 he has been a Professor in the Department of Robotics.

His research interests include information theory, control theory, cybernetics, robotics, and machine intelligence.

Prof. Arimoto is an IEEE Fellow (1983), an IEICE Fellow (2000), and a RSJ Fellow, and was awarded the national medal with a purple ribbon from the Japanese government in 2000, and the IEEE third Millennium Medal from the IEEE in 2000.

Morio Yoshida was born on July 24, 1973 in Japan. He received a B.S. degree in Mechanical Engineering in 2002, and a M.Sc degree in Information Science and Systems Engineering from Ritsumeikan University in 2004. He is currently a doctoral student in the graduate school of science and engineering at Ritsumeikan University.

His research interests include hand robot, robot control, and robot dynamics.

Ji-Hun Bae was born on November 27, 1972 in Korea. He received B.S. and M.Sc degrees in Electrical Engineering from Myongji University, Korea in 1999 and 2001 respectively, and a Ph.D. degree in Robotics from Ritsumeikan University, Japan in 2004. He is currently a post doctoral fellow in the Center of Promotion of the COE Program at Ritsumeikan University, Japan.

His research interests include robotic fingers, sensory-feedback control, biological control, and biomimetics.

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Arimoto, S., Yoshida, M. & Bae, JH. Dynamics and stability of blind grasping of a 3-dimensional object under non-holonomic constraints.Int J Automat Comput 3, 263–270 (2006). https://doi.org/10.1007/s11633-006-0263-x

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