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Published in:
Clustering Latent Sensor Distribution on Body Map for Generating Body Schema Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Sensorless In-Hand Caging Manipulation

Authors : Yusuke Maeda, Tomohiro Asamura

Published in: Intelligent Autonomous Systems 14

Publisher: Springer International Publishing

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Abstract

In this paper, we study a method to manipulate objects in position-controlled robot hands: in-hand caging manipulation. In this method, an object is caged by a hand throughout manipulation and located around a goal as a result of the deformation of the cage without sensing the object configuration. A motion planning algorithm for planar in-hand caging manipulation of a circular object is proposed. Planned motions by the algorithm are successfully performed by a two-fingered robot hand. Additionally some examples of 3D in-hand caging manipulation by a four-fingered robot hand are presented.

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previous chapter An RGB-D Visual Application for Error Detection in Robot Grasping Tasks
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Metadata
Title
Sensorless In-Hand Caging Manipulation
Authors
Yusuke Maeda
Tomohiro Asamura
Copyright Year
2017
Book
Intelligent Autonomous Systems 14

Print ISBN: 978-3-319-48035-0

Electronic ISBN: 978-3-319-48036-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-48036-7_19

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