Enveloping Grasp for Multiple Objects. Kinematics and Shovelling up Condition.
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- Harada Kensuke
- Hiroshima University
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- Kaneko Makoto
- Hiroshima University
Bibliographic Information
- Other Title
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- 複数対象物体の包み込み把握 運動学とすくい上げ条件
- フクスウ タイショウ ブッタイ ノ ツツミコミ ハアク ウンドウガク ト スク
- —Kinematics and Shovelling up Condition—
- ―運動学とすくい上げ条件―
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Abstract
This paper discusses the enveloping grasp of multiple objects under rolling contacts. We first provide a general mathematical formulation on the kinematic relationship for multiple objects enveloped by a multi-fingered robot hand, and then derive a condition for judging whether the rolling condition can be satisfied at each contact point. We also show a sufficient condition for shovelling up two objects. Finally, an experimental result is shown to confirm how easily two cylindrical objects can be shovelled up by a simple grasping motion.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 16 (6), 860-867, 1998
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204727102848
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- NII Article ID
- 10002864564
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4545735
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed