ICRA 2017poster28 citations
Caging-based grasp with flexible manipulation for robust capture of a free-floating target
Daichi Hirano, Hiroki Kato, Nobutaka Tanishima
Abstract
This paper discusses robust capture of a free-floating target using a robotic arm. The position error resulting from sensor errors and time delay can cause undesired contact and unstable control. In this paper, we propose a caging-based rigid gripper and impedance control, which enables the robot to capture the target robustly without precise motion tracking and large force interaction. The performance of the proposed method is verified experimentally using an air-floating system that emulates planar microgravity motion.
BibTeX
@inproceedings{icra2017_cagingbasedgrasp,
title = {Caging-based grasp with flexible manipulation for robust capture of a free-floating target},
author = {Daichi Hirano and Hiroki Kato and Nobutaka Tanishima},
booktitle = {ICRA 2017},
year = {2017}
}