Rolling-based manipulation for multiple objects

IEEE Transactions on Robotics and Automation Volume 16 Issue 5 Page 457-468 published_at 2000
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Title ( eng )
Rolling-based manipulation for multiple objects
Creator
Harada Kensuke
Kaneko Makoto
Source Title
IEEE Transactions on Robotics and Automation
Volume 16
Issue 5
Start Page 457
End Page 468
Abstract
This paper discusses the manipulation of multiple objects under rolling contacts. For manipulating multiple objects, the following two key issues do not arise in the manipulation of a single object: 1) each object's motion is restricted by the other objects and 2) the contact force among objects is not controlled directly. As for 1), we first formulate the motion constraint for the whole grasp system, and then provide a necessary condition for manipulating multiple objects uniquely. As for 2), we provide a condition for determining the contact forces among objects uniquely. We further show a sufficient condition for manipulating multiple objects within the object motion constraint. Under this sufficient condition, we propose a control scheme for object motion by taking the motion constraint into account. Simulation and experimental results are provided to confirm our idea.
Keywords
Manipulation
multiple objects
rolling contact
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2000
Rights
Copyright (c) 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1042-296X
[DOI] 10.1109/70.880797
[DOI] http://dx.doi.org/10.1109/70.880797