Vision and Tactile Sensing based Grasping Manipulation

Heads: Shinichi Hirai
Contact: Nobuyoshi Koike

Date: 1999 - 2002

Mailing address:
Dept. Robotics, Ritsumeikan Univ.
Kusatsu, Shiga 525-8577, Japan

Supported by:

Associated lab/group:
Dr. Takahiro Wada (Kagawa Univ.)

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Project Description

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:

The proposed control law can be applied to the handling of deformable objects.


Name Title Degree
Takahiro Wada
Nobuyoshi Koike Graduated Master of Eng.
Hiroshige Mori Graduated Master of Eng.




Grasping manipulation of sponge (mpg 1.0MB)

Grasping manipulation of sponge

Grasping manipulation of sponge

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