A differential-geometric approach for 2D and 3D object grasping and manipulation

Annual Reviews in Control - Tập 31 Số 2 - Trang 189-209 - 2007
S. Arimoto1,2
1Biomimetics Research Center, RIKEN, Nagoya, Aichi 463-0003, Japan
2Department of Robotics, Ritsumeikan, University 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan

Tóm tắt

Từ khóa


Tài liệu tham khảo

Arimoto, 1996

Arimoto, 2000, Dynamics and control of a set of dual fingers with soft tips, Robotica, 18, 71, 10.1017/S0263574799002441

Arimoto, 2003, Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination, Journal of Robotic Systems, 20, 517, 10.1002/rob.10102

Arimoto, 2004, Intelligent control of multi-fingered hands, Annual Review in Control, 28, 75, 10.1016/j.arcontrol.2003.12.001

Arimoto, 2005, Two-dimensional stable blind grasping under the gravity effect, 1208

Arimoto, 2006, Stability of 3D-object grasping under non-holonomic constraints

Arimoto, S., Yoshida, M., & Bae, J. -H. (2007). Modeling of 3-D object manipulation by multi-joint robot fingers under non-holonomic constraints and stable blind grasping. JSME Journal of System Design and Dynamics, 1(3), (a special issue on ACMD’06), 434–446.

Arimoto, 2008, Modelling and control of three-dimensional grasp by a pair of robot fingers, to be published in SICE, Journal of Control, Measurement and System Integration, 1

Bae, 2004, Important role of force/velocity characteristics in sensory-motor coordination for control desing of object manipulation by a multi-fingered hand, Robotica, 22, 479, 10.1017/S0263574704000311

Bernstein, 1967

N. A. Bernstein (1996). On dexterity and its development. Lawrence Erlbaum Associates Inc. (translated from the Russian by M.L. Latash).

Bicchi, 1995, On the closure properties of robotic grasping, International Journal of Robotics Research, 14, 319, 10.1177/027836499501400402

Bicchi, 1995, Dexterous manipulation through rolling

Bicchi, 1998, Dexterity through rolling: Manipulation of unknown objects, 1583

Bicchi, 2000, Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity, IEEE Transactions on Robotics and Automation, 16, 652, 10.1109/70.897777

Brockett, 1981, Control theory and singular Riemannian geometry in new direction in applied mathematics, 11

Cole, 1989, Kinematics and control of multi-fingered hands with rolling contact, IEEE Transactions on Automatic Control, 34, 398, 10.1109/9.28014

Goldstein, 2002

Howard, 1996, On the stability of grasped objects, IEEE Transactions on Robotics and Automation, 12, 904, 10.1109/70.544773

Li, 1990, Motion of two rigid bodies with rolling constraint, IEEE Transactions on Robotics and Automation, 6, 62, 10.1109/70.88118

Lurie, 2002

Marigo, 2000, Rolling bodies with regular surface: Controllability theory and applications, IEEE Transactions on Automatic Control, 45, 1586, 10.1109/9.880610

Montana, 1988, The kinematics of contact and grasp, International Journal of Robotics Research, 7, 17, 10.1177/027836498800700302

Montana, 1992, Contact stability for two-fingered grasps, IEEE Transactions on Robotics and Automation, 8, 421, 10.1109/70.149939

Murray, 1994

Napier, 1993

Nguyen, 1989, Constructing stable grasps, International Journal of Robotics Research, 8, 26, 10.1177/027836498900800102

Okamura, 2000, An overview of dexterous manipulation, 255

Ozawa, 2005, Control of an object with parallel surfaces by a pair of finger robots without object sensing, IEEE Transactions on Robotics and Automation, 21, 965, 10.1109/TRO.2005.852263

Paljung, 1994, Control of rolling contacts in multi-arm manipulation, IEEE Transactions on Robotics and Automation, 10, 441, 10.1109/70.313095

Rimon, 1996, On force and form closure for multiple finger grasps, 1795

Seraji, 1987, Configuration control of redundant manipulators: Theory and implimentation, IEEE Transactions on Robotics and Automation, 5, 403

Shimoga, 1996, Robot grasp synthesis algorithms: A survey, International Journal of Robotics Research, 15, 230, 10.1177/027836499601500302

Trinkle, 1992, On the stability and instantaneous velocity of grasped frictionless objects, IEEE Transactions on Robotics and Automation, vol. 8, 560, 10.1109/70.163781

Yoshida, 2007, Blind grasp and manipulation of a rigid object by a pair of robot fingers with soft tips, 4707