000171873 001__ 171873
000171873 005__ 20181203022542.0
000171873 02470 $$2ISI$$a000285573300002
000171873 037__ $$aARTICLE
000171873 245__ $$aIndirect Manipulation of a Sphere on a Flat Disk Using Force Information
000171873 269__ $$a2009
000171873 260__ $$c2009
000171873 336__ $$aJournal Articles
000171873 520__ $$aThe objective of this study is to verify if only the use of robotic force feedback enables indirect and dynamic manipulations which are difficult for human beings to perform. Human beings usually control the trajectory of an object using visual feedback; force/tactile information are secondarily employed because they are further qualitative in comparison with visual information. However, it is supposed that robots have the potential to perform such the tasks without visual information because force/tactile information can be also used quantitatively in the control system. This paper especially focuses on an indirect manipulation of a sphere on a flat plate realized by employing only force information. In this paper, we propose a very simple method to estimate the position of the sphere on the plate which is put on a multi-fingered robot and try to control the trajectory by changing the fingertip heights based on the error between the desired and estimated positions. We also analyze the stability of the proposed control system with an approximate Lyapunov's stability criterion. Finally, this paper shows very attractive robotic demonstrations based on the proposed method.
000171873 6531_ $$aMulti-fingered robot
000171873 6531_ $$aindirect manipulation
000171873 6531_ $$acompliance control
000171873 6531_ $$aforce information
000171873 6531_ $$aClosure Grasps
000171873 6531_ $$aCoordination
000171873 6531_ $$aModel
000171873 6531_ $$aHand
000171873 700__ $$uEcole Polytech Fed Lausanne EPFL, CH-1015 Lausanne, Switzerland$$aHara, Masayuki
000171873 700__ $$aTanaka, Yoshinori
000171873 700__ $$aHuang, Jian
000171873 700__ $$aYabuta, Tetsuro
000171873 773__ $$j6$$tInternational Journal Of Advanced Robotic Systems$$q267-276
000171873 909C0 $$0252016$$pLSRO
000171873 909CO $$ooai:infoscience.tind.io:171873$$pSTI$$particle
000171873 917Z8 $$x104561
000171873 937__ $$aEPFL-ARTICLE-171873
000171873 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000171873 980__ $$aARTICLE