Dynamic In-hand Sliding Manipulation
| Title: | Dynamic In-hand Sliding Manipulation |
|---|---|
| Publication Type: | Conference Paper |
| Year of Publication: | 2015 |
| Authors: | J. Shi, J. Z. Woodruff, and K. M. Lynch |
| Conference Name: | Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on |
| Publisher: | IEEE |
| Pages: | 870 - 877 |
| Date Published: | Sept. 2015 |
| DOI: | 10.1109/IROS.2015.7353474 |
| 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. |
PDF: IROS15_1443_FI.pdf
Videos: IROS2015_final.mp4
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