Dynamic in-hand sliding manipulation

Jian Shi; J. Zachary Woodruff; Kevin M. Lynch

IROS 2015poster169 citations

Dynamic in-hand sliding manipulation

Jian Shi, J. Zachary Woodruff, Kevin M. Lynch

Abstract

This paper presents a framework for planning the motion of an n-fingered robot hand to create an inertial load on a grasped object to achieve a desired in-grasp sliding motion. The model of the sliding dynamics is based on a soft-finger limit surface contact model at each fingertip. The framework is applied to the problem of regrasping a block held in a pinch grasp. The approach is applied to two examples in simulation, one of which is tested experimentally.

BibTeX

@inproceedings{iros2015_dynamicinhandsli,
  title = {Dynamic in-hand sliding manipulation},
  author = {Jian Shi and J. Zachary Woodruff and Kevin M. Lynch},
  booktitle = {IROS 2015},
  year = {2015}
}