Abstract
In this paper, we proposed a new method called "in-hand caging manipulation" to manipulate objects in position-controlled robot hands. In this method, the objects are caged by the hands throughout manipulation and localized around the goal as a result of the deformation of the cage. Manipulation of a circular object was successfully performed by a two-fingered robot hand in experiments. However, manipulation failed in some cases due to jamming. This problem can be solved partially by reducing friction, but further investigation is necessary.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
