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This paper focuses on the Riemannian distance and its application to skilled-motion plannings for the system. The Riemannian distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this(More)
A mathematical model expressing 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 human grasp an object in the form of precision prehension dynamically and stably by opposable forces between the thumb(More)
This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile(More)
This paper proposes a novel control method for enabling a robotic arm with a pair of two degrees of freedom (DOFs) robotic fingers as an endeffector to execute a variety of superimposed tasks in a coordinated way. Differently from conventional control methods previously proposed for arm-hand systems that adopt a separate design to control each robotic part,(More)
This study proposes a mathematical uncertainty model for the spatial measurement of visual features using Kinect™ sensors. This model can provide qualitative and quantitative analysis for the utilization of Kinect™ sensors as 3D perception sensors. In order to achieve this objective, we derived the propagation relationship of the uncertainties between the(More)
Object manipulation involves two tasks: 1) reaching to grasp and 2) grasping. Motivated by physiological studies related to first task, reaching to grasp, and a simple control method composed of joint-damping and a single virtual spring, we try out for realization of continuous reaching-to-preshaping movements by robotic hand-arm systems with a pair of(More)