Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
巻
2005
号
1570249
ページ
1025 - 1032
発行年
2005-01-01
ISSN
1050-4729
ISBN
078038914X
978-078038914-4
DOI
10.1109/ROBOT.2005.1570249
出版者
IEEE
抄録
In this paper, we discuss the manipulation of an object under hybrid active/passive closure. We show the orthogonality between the directions of active and passive force closures for general grasping systems. Based on the orthogonality, we decompose the dynamics of grasping system into the "active part" and the "passive part". By using the decomposition, we show that the grasped object can be manipulated only by considering the dynamics of the active part. We also consider how to determine the desired internal forces in order to satisfy frictional constraints during the manipulation. In order to verify the validity of our approach, some simulation results are shown.
Object Manipulation under Hybrid Active/Passive Closure
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