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Dynamics, Contact Motion and Control of Dual Arm Object Manipulation With Soft Rolling Fingertips

[+] Author Affiliations
Zoe Doulgeri, John Fasoulas

Aristotle University of Thessaloniki, Thessaloniki, Greece

Paper No. IMECE2002-33125, pp. 303-311; 9 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


In this paper a detailed derivation is made of the kinematics and dynamics of a pair of robotic fingers manipulating a rectangular object with soft fingertips that are allowed to roll along the object surface. The whole system is confined to the horizontal plane. Two contact motion models for the soft area contact are considered and it is shown that they significantly affect contact mode and type of finger rolling constraints. A discussion on contact forces and a grasp analysis at object’s equilibrium is made. Last, simple feedback control solutions that have been proposed for stabilizing the grasping and regulating the object’s posture are presented.

Copyright © 2002 by ASME



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