Grasping Control for the Soft Object for Robot Hands

DOI

Bibliographic Information

Other Title
  • ロボットハンドによる柔らかい対象物の把持制御

Description

In this paper, we propose grasping control based on Compensation Force and Binding Force. We also discuss grasping control for the soft (deformed) object for multi-fingered robot hands. Using Mass-Spring-Damper lattice model, grasp of the soft object is considered correcting the error between a real object and a model.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390282680623847296
  • NII Article ID
    130005025665
  • DOI
    10.11511/jacc.53.0.177.0
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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