2022 Fiscal Year Annual Research Report
Design and Geometric Motion Planning Studies of a Novel Agile 3-DoF Fingertip Grasping Mechanism
| Project/Area Number |
21K20391
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| Research Institution | Tohoku University |
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Principal Investigator |
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| Project Period (FY) |
2021-08-30 – 2023-03-31
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| Keywords | Geometric mechanics / Differential geometry / Motion planning / Control / Agile fingertip / Dexterous manipulation / Design / Robots |
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| Outline of Annual Research Achievements |
The research aim was to study the spin-rolling contacts on different surfaces. We investigate the problem from a mechanism design and motion planning point of view. We were able to develop new Darboux-frame-based kinematics for easing the motion planning problem by transforming an underactuated rolling contact model to a fully-actuated one. Next, we developed a motion planning strategy using the iterative algorithm with geometric functions. Also, the spin-rolling fingertip that resembles the spin-rolling sphere on the generic surface is investigated. Finally, we developed a new driving mechanism for spin-rolling fingertips. We tested different actuation strategies to achieve an agile fingertip for the grasping mechanisms. With the extension of the study to assistive geometric controllers, we were able to publish our findings in different journals and conferences. We are planning to publish our new mechanism in international journals in the near future.
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