Modeling and Grasp Stability Analysis for Object Manipulation by Soft Rolling Fingertips

Author:

Fasoulas John1,Sfakiotakis Michael2

Affiliation:

1. Department of Mechanical Engineering, Technological Educational Institute of Crete, Heraklion, Greece

2. Department of Electrical Engineering, Technological Educational Institute of Crete, Heraklion, Greece

Abstract

This paper presents a general dynamic model that describes the two-dimensional grasp by two robotic fingers with soft fingertips. We derive the system's kinematics and dynamics by incorporating rolling constraints that depend on the deformation and on the rolling distance characteristics of the fingertips' material. We analyze the grasp stability at equilibrium, and conclude that the rolling properties of the fingertips can play an important role in grasp stability, especially when the width of the grasped object is small compared to the radius of the tips. Subsequently, a controller, which is based on the fingertips' rolling properties, is proposed for stable grasping concurrent with object orientation control. We evaluate the dynamic model under the proposed control law by simulations and experiments that make use of two different types of soft fingertip materials, through which it is confirmed that the dynamic model can successfully capture the effect of the fingertips' deformation and their rolling distance characteristics. Finally, we use the dynamic model to demonstrate by simulations the significance of the fingertips' rolling properties in grasping thin objects.

Publisher

World Scientific Pub Co Pte Lt

Subject

Artificial Intelligence,Mechanical Engineering

Cited by 5 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A Mechatronic Thumb for Grasping and In-Hand Manipulation Tasks;IEEE Transactions on Medical Robotics and Bionics;2024-05

2. MODAL FREQUENCY ANALYSES OF THE VARIABLE STIFFNESS MECHANISM DESIGN OF SOFT ROBOTIC SYSTEM;International Journal of 3D Printing Technologies and Digital Industry;2021-09-22

3. Design, Modeling and Control of an Enhanced Soft Pneumatic Network Actuator;International Journal of Humanoid Robotics;2021-02

4. Description and Analysis of Multi-Fingered Hand Grasping with a New Finger-Object Contact Model;International Journal of Humanoid Robotics;2019-10

5. Grasp and Orientation Control of an Object by Two Euler–Bernoulli Arms With Rolling Constraints;Journal of Dynamic Systems, Measurement, and Control;2019-09-24

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