Vision and Tactile Sensing based Grasping Manipulation
Heads: Shinichi Hirai
Date: 1999 - 2002
The goal of this project is to grasp and to manipulate deformable soft objects based on vision and tactile sensing. Stable grasping and object manipulation are performed by tactile and visual feedbacks.
The goal of this project is to develop a control law for the stable grasping and the manipulation of deformable objects. Grasping and manipulation of deformable objects cannot be controlled independently while those of rigid objects can be performed independently. Thus, we will establish a control law to perform the grasping manipulation of deformable objects.
Stable grasping can be realized by controlling the distribution of grasping forces using tactile sensing while object manipulation can be performed by controlling the locations of representative points using visual sensing. We have derived an iterative control law for the grasping manipulation. The proposed control law has the following features:
|Nobuyoshi Koike||Graduated||Master of Eng.|
|Hiroshige Mori||Graduated||Master of Eng.|