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Sensorless In-Hand Caging Manipulation

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

In this paper, we study a method to manipulate objects in position-controlled robot hands: in-hand caging manipulation. In this method, an object is caged by a hand throughout manipulation and located around a goal as a result of the deformation of the cage without sensing the object configuration. A motion planning algorithm for planar in-hand caging manipulation of a circular object is proposed. Planned motions by the algorithm are successfully performed by a two-fingered robot hand. Additionally some examples of 3D in-hand caging manipulation by a four-fingered robot hand are presented.

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Acknowledgements

This work was supported by JSPS KAKENHI Grant Number JP22700200 and JKA’s promotion funds from KEIRIN RACE (24-83).

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Authors and Affiliations

  1. Faculty of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama, 240-8501, Japan

    Yusuke Maeda

  2. Mitsubishi Electric Corp., Tokyo, Japan

    Tomohiro Asamura

Authors
  1. Yusuke Maeda
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  2. Tomohiro Asamura
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Corresponding author

Correspondence to Yusuke Maeda .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Maeda, Y., Asamura, T. (2017). Sensorless In-Hand Caging Manipulation. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_19

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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