Dynamics and Stability of Blind Grasping of a 3-Dimensional Object under Non-holonomic Constraints  

作　　者：Suguru Arimoto Morio Yoshida Ji-Hun Bae 

机构地区：[1]Department of Robotics Ritsumeikan University,Kusatsu,Shiga,525-8577,Japan

出　　处：《International Journal of Automation and computing》2006年第3期263-270,共8页国际自动化与计算杂志（英文版）

基　　金：This work was supported in part by the Grant-in-Aid for Exploratory Research of the JSPS (No. 16656085).

摘　　要：A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.

关 键 词：Dynamics of 3-D grasping blind-grasping non-holonomic constraints stable grasping precision prehension 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]