Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips

@article{Yoshida2007BlindGA,
  title={Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips},
  author={Morio Yoshida and Suguru Arimoto and Ji-Hun Bae},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={4707-4714}
}
This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object. It is then shown that, in the case of a pair of planer fingers with two and three joints and a 2D rigid object with parallel or non-parallel flat surfaces, there exists a sensory-motor coordinated control signal constructed by using only the knowledge of finger kinematics and measurements of finger joints… CONTINUE READING

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