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.)

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:

• Location of a deformable object as well as its deformation can be controlled.
• Grasping can be performed with area contact between fingers and an object.
• Manipulation can be performed despite slipping and rolling between fingers and an object.

Personnel

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

Publications

• Shinichi Hirai, Tatsuhiko Tsuboi, and Takahiro Wada, Robust Grasping Manipulation of Deformable Objects, Proc. IEEE Symp. on Assembly and Task Planning, pp.411-416, 10.1109/ISATP.2001.929069, Fukuoka, Japan, May 28-29, 2001

Notes

Album

Grasping manipulation of sponge (mpg 1.0MB)

Grasping manipulation of sponge

Grasping manipulation of sponge

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