Dynamic in-hand sliding manipulation

Jian Shi; J. Zachary Woodruff; Kevin M Lynch

doi:10.1109/IROS.2015.7353474

Dynamic in-hand sliding manipulation

Jian Shi, J. Zachary Woodruff, Kevin M Lynch

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Scopus citations

Abstract

This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.

Original language	English (US)
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	870-877
Number of pages	8
Volume	2015-December
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353474
State	Published - Dec 11 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	9/28/15 → 10/2/15

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2015.7353474

Cite this

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title = "Dynamic in-hand sliding manipulation",

abstract = "This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.",

author = "Jian Shi and Woodruff, {J. Zachary} and Lynch, {Kevin M}",

year = "2015",

month = dec,

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doi = "10.1109/IROS.2015.7353474",

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booktitle = "IROS Hamburg 2015 - Conference Digest",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Shi, J, Woodruff, JZ & Lynch, KM 2015, Dynamic in-hand sliding manipulation. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353474, Institute of Electrical and Electronics Engineers Inc., pp. 870-877, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7353474

Dynamic in-hand sliding manipulation. / Shi, Jian; Woodruff, J. Zachary; Lynch, Kevin M.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 870-877 7353474.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Woodruff, J. Zachary

AU - Lynch, Kevin M

PY - 2015/12/11

Y1 - 2015/12/11

N2 - This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.

AB - This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.

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EP - 877

BT - IROS Hamburg 2015 - Conference Digest

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T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

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Dynamic in-hand sliding manipulation

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