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Dynamic Stable Grasp and Object-Manipulation by Multi-Fingered Hands with Soft Tips Based on Sensory Feedback

Research Project

Project/Area Number 13650290
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

ARIMOTO Suguru  Ritsumeikan Univ., Fac. Science and Engineering, Professor, 理工学部, 教授 (00029399)

Project Period (FY) 2001 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 2002: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 2001: ¥1,800,000 (Direct Cost: ¥1,800,000)
KeywordsMulti-Fingered Hand / Grasping / Object-Manipulation / Pinching / Stable Grasping / Sensory Feedback / Sensory-Motor Coordination / Stability on a Manifold / ロボットハンド / 柔軟多指ハンド / センサーフィードバック / 姿勢制御 / 位置制御
Research Abstract

This research project started from noting that human can grasp an object stably and manipulate it dexterously while it is quite difficult to let multi-fingered robot hands to do the same, even though their mechanisms resemble human hands and each of their finger joints is equipped with a superior actuator. We also noted that there is a vast literature concerning the problem of form closure or immobilizability of 2D or 3D objects by using a number of frictionless fingers. It is known that three frictionless fingers suffice to immobilize any 2D object with triangular shape but four fingers are necessary for immobilizing a parallelepiped. Just before starting this research we found that only two fingers are enough to realize secure grasp of a rigid object with parallel flat surfaces in a dynamic sense if finger ends have a hemispherical shape with appropriate radius and thereby rollings are induced between finger ends and object surfaces. The principal reason lies on the fact that a singl … More e rolling contact generates two contact constraint forces, one in the direction normal to the object surface at the contact point and another in the direction tangent to the object surface.
In this research project, we firstly verified theoretically that a pair of multi-degrees of freedom robot fingers with hemispherical finger ends can grasp stably a rigid object with non-parallel or parallel flat surfaces and control its orientation angle by means of sensory-motor coordination based on sensory feedback signals constructed on the basis of information of only finger kinematics and measurements of finger joints and the rotational angle of the object. It is also shown that the overall fingers-object system is under-actuated and the total d.o.f. of the system is redundant. Notwithstanding such underactuation and redundancy of the dynamics, it is shown that a new concept of "stability on a manifold" plays a crucial sole in realizing a dynamic force/torque closure (stable grasp) together with concurrent control of the object orientation. Secondly, simulation results on the basis of the CSM (Constraint Stabilization Method) verified the effectiveness of the proposed method of sensory-motor coordination and present guidelines for determining feedback gains in various feedback terms. Finally, experimental results show that concurrent grasp and orientation control of a rigid object can be realized without knowing the size of the object and location of the object mass center. The theory is now under extending to the case of grasp and manipulation of 3D polygonal objects by using two or three multi-dof fingers with spherical ends. Less

Report

(3 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • Research Products

    (49 results)

All Other

All Publications (49 results)

  • [Publications] S.Arimoto, M.Yamaguchi, H.-Y.Han, K.Tahara, P.T.A.Nguyen: "Sensory feedback for dynamic stable pinching by means of a pair of soft fingers"Proc. of the 32nd ISR. 772-777 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] K.Tahara, M.Yamaguchi, P.T.A.Nguyen, H.Y.Han, S.Arimoto: "Stable grasping and posture control for a pair of robot fingers with soft tips"Human Friendly Mechatronics (ICMA 2000). 291-296 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] H.-Y.Han, S.Arimoto, K.Tahara, M.Yamaguchi, P.T.A.Nguyen: "Robotic pinching by means of a pair of soft fingers with sensory feedback"Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation. 97-102 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Performance of pinching motions of two multi-DOF robotic fingers with soft-tips"Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation. 2344-2349 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto, K.Tahara, M.Yamaguchi: "Existence of feedbacks from sensing to action for stable grasping and dexterous manipulation by multi-fingered robot hands"Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation. 524-529 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Z.Doulgeri, J.Fasoulas, S.Arimoto: "Feedback control for object manipulation by a pair of soft tip fingers"Robotica. 20. 1-11 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Learning motion of dexterous manipulation, for a pair of multi-DOF fingers with soft-tips"Asian Journal of Control. 4. 11-20 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Z.Doulgeri, S.Arimoto: "A position/force control for a robot finger with soft tip and uncertain kinematics"Journal of Robotic Systems. 19. 115-131 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Dexterous manipulation of an object by means of multi-DOF robotic fingers with soft tips"Journal of Robotic Systems. 19. 349-362 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Computer simulation of controlled motion of dual fingers with soft-tips grasping and manipulating an object"Advanced Robotics. 16. 123-145 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto, Z.Doulgeri, P.T.A.Nguyen, J.Fasoulas: "Stable pinching by a pair of robot fingers with soft tips under the effect of gravity"Robotica. 20. 241-249 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] K.Tahara, M.Yamaguchi, J.-H.Bae, S.Nakamura, S.Arimoto: "Experimental results on dynamic stable grasping by a pair of robot fingers with soft tips"Proc. of the 2002 Japan-USA Symp. on Flexible Automation. 791-797 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto: "Can Newtonian mechanics explicate why and how babies (or robots) acquire dexterous hand motion?"Proc. of the 8th IEEE Int. Conf. on Methods and Models in Automation and Robotics (MMAR 2002). 129-136 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto, J.H.Bae, K.Tahara: "Dynamic stable pinching by a pair of robot fingers"Proc. of 2nd IFAC Conf. on Mechatronic Systems. 731-736 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto, K.Tahara, J.-H.Bae, M.Yoshida: "A stability theory on a manifold : concurrent realization of grasp and orientation control of an object by a pair of robot fingers"Robotica. 21. 163-178 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto, J.-H.Bae, K.Tahara: "Stability on a manifold : Simultaneous realization of grasp and orientation control of an object by a pair of robot fingers"Proc. of the 2003 IEEE Int. Conf. on Robotics and Automation. (To be published). (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S.Arimoto: "Dynamic force/torque closure for 2D and 3D objects by means of rolling contacts with robot fingers"Proc. of the Int. Conf. on Robotics, Intelligent Systems and Signal Processing (ICRISSP 2003). (To be published). (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 有本 卓: "新版 ロボットの力学と制御"朝倉書店. 222 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto, M. Yamaguchi, H.-Y. Han, K. Tahara, and P.T.A. Nguyen: "Sensory feedback for dynamic stable pinching by means of a pair of soft fingers"Proc. Of the 32nd ISR, Seoul, Korea. 19-21. 772-777 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] K. Tahara, M. Yamaguchi, P.T.A. Nguyen, H.-Y. Han, and S. Arimoto: "Stable grasping and posture control for a pair of robot fingers with soft tips"Human Friendly Mechatronics (ICMA 2000). 291-296 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] H.-Y. Han, S. Arimoto, K. Tahara, M. Yamaguchi, and P.T.A. Nguyen: "Robotic pinching by means of a pair of soft fingers with sensory feedback"Proc. Of the 2001 IEEE Int. Conf. on Robotics & Automation, Seoul, Korea. 21-26. 97-102 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A. Nguyen and S. Arimoto: "Performance of pinching motions of two multi-DOF robotic fingers with soft-tips"Proc. Of the 2001 IEEE Int. Conf. on Robotics & Automation, Seoul, Korea. 21-26. 2344-2349 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto, K. Tahara, and M. Yamaguchi: "Existence of feedbacks from sensing to action for stable grasping and dexterous manipulation by multi-fingered robot hands"Proc. Of the 2001 IEEE Int. Conf. on Control Applications. 5-7. 524-529 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Z. Doulgeri, J. Fasoulas, and S. Arimoto: "Feedback control for object manipulation by a pair of soft tip fingers"Robotics. Vol. 20, No. 1. 1-11 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A. Nguyen and S. Arimoto: "Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips"Asian Journal of Control. Vol. 4, No. 1. 11-20 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Z. Doulgeri and S. Arimoto: "A position/force control for a robot finger with soft tip and uncertain kinematics"J. of Robotic Systems. Vol. 19, No. 3. 115-131 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A. Nguyen and S. Arimoto: "Dexterous manipulation of an object by means of multi-DOF robotic fingers with soft tips"J. of Robotic Systems. Vol. 19, No. 7. 349-362 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] P.T.A. Nguyen and S. Arimoto: "Computer simulation of controlled motion of dual fingers with soft-tips grasping and manipulating an object"Advanced Robotics. Vol. 16, No. 2. 123-145 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto, Z. Doulgeri, P.T.A. Nguyen and J. Fasoulas: "Stable pinching by a pair of robot fingers with soft tips under the effect of gravity"Robotics. Vol. 20, No. 3. 241-249 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] K. Tahara, M. Yamaguchi, J.-H. Bae, S. Nakamura, and S. Arimoto: "Experimental results on dynamic stable grasping by a pair of robot fingers with soft tips"Proc. Of the 2002 Japan-USA Symp. On Flexible Automation. 14-19. 791-797 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto: "Can Newtonian mechanics explicate why and how babies (or robots) acquire dexterous hand motion?"Proc. Of the 8th IEEE Int. Conf. on Methods and Models in Automation and Robotics (MMAR 2002). 2-5. 129-136 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto, J.-H. Bae and K. Tahara: "Dynamic stable pinching by a pair of robot fingers"Proc. Of 2nd IFAC Conf. on Mechatronic Systems. 9-11. 731-736 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto, K. Tahara, J.-H. Bae, and M. Yoshida: "A stability theory on a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot finger"Robotica. Vol. 21, No. 2. 163-178 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto, J.-H. Bae, and K. Tahara: "Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers"To be published in Proc. Of the 2003 IEEE Int. Conf. on Robotics and Automation. 12-17. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] S. Arimoto: "Dynamic force/torque closure for 2D and 3D objects by means of rolling contacts with robot fingers"To be published in Proc. Of the Int. Conf. on Robotics, Intelligent Systems and Signal Processing (ICRISSP 2003). 19-25. (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Z.Doulgeri, J.Fasoulas, S.Arimoto: "Feedback control for object manipulation by a pair of soft tip fingers"Robotica. 20. 1-11 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips"Asian Journal of Control. 4. 11-20 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Z.Doulgeri, S.Arimoto: "A position/force control for a robot finger with soft tip and uncertain kinematics"Journal of Robotic Systems. 19. 115-131 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Dexterous manipulation of an object by means of multi-DOF robotic fingers with soft tips"Journal of Robotic Systems. 19. 349-362 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Computer simulation of controlled motion of dual fingers with soft-tips grasping and manipulating an object"Advanced Robotics. 16. 123-145 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] S.Arimoto, Z.Doulgeri, P.T.A.Nguyen, J.Fasoulas: "Stable pinching by a pair of robot fingers with soft tips under the effect of gravity"Robotica. 20. 241-249 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] S.Arimoto, K.Tahara, J.-H.Bae, M.Yoshida: "A stability theory on a manifold : concurrent realization of grasp and orientation control of an object by a pair of robot fingers"Robotica. 21. (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] 有本 卓: "新版 ロボットの力学と制御"朝倉書店. 222 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] H-Y Han, S.Arimoto, K.Tahara, M.Yamaguchi, P.T.A.Nguyen: "Robotic pinching by means of a pair of soft fingers with sensory feedback"2001 IEEE International Conference on Robotics & Automation. 97-102 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Performance of pinching motions of two multi-DOF robotic fingers with soft-tips"2001 IEEE International Conference on Robotics & Automation. 2344-2349 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] S.Arimoto, K.Tahara, M.Yamamoto: "Existence of feedbacks from sensing to action for stable grasping and dextercus manipulation by multi-fingered robot hands"2001 IEEE International Conference on Robotics & Automation. 524-529 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Z.Doulgeri, I.Fasoulas, S.Arimoto: "Feedback control for object manipulation by a pair of soft tip fingers"Robotica. Vol.20 Part1. 1-11 (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] P.T.A.Nguyen, S.Arimoto: "Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips"Asian Journal of Control. Vol.4 No.1. 1-10 (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] S.Arimoto, Z.Doulgeri, P.T.A.Nguyen, J.Fasoulas: "Stable pinching by a pair of robot fingers with soft tips under the effect of gravity"Robotica. Vol.20(印刷中). (2002)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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