Dynamic In-hand Sliding Manipulation

TitleDynamic In-hand Sliding Manipulation
Publication TypeConference Paper
Year of Publication2015
AuthorsShi, J., J. Z. Woodruff, and K. M. Lynch
Conference NameIntelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Pages870 - 877
Date PublishedSept. 2015
Conference LocationHamburg, Germany

This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.

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