000172009 001__ 172009
000172009 005__ 20181203022543.0
000172009 02470 $$2ISI$$a000288497400010
000172009 037__ $$aARTICLE
000172009 245__ $$aIndirect Manipulation of a Sphere on a Flat Disk Using Force Information
000172009 269__ $$a2010
000172009 260__ $$c2010
000172009 336__ $$aJournal Articles
000172009 520__ $$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.
000172009 6531_ $$aMulti-fingered robot
000172009 6531_ $$aindirect manipulation
000172009 6531_ $$acompliance control
000172009 6531_ $$aforce information
000172009 6531_ $$aClosure Grasps
000172009 6531_ $$aCoordination
000172009 6531_ $$aModel
000172009 6531_ $$aHand
000172009 700__ $$uEcole Polytech Fed Lausanne, CH-1015 Lausanne, Switzerland$$aHara, Masayuki
000172009 700__ $$aTanaka, Yoshinori
000172009 700__ $$aHuang, Jian
000172009 700__ $$aYabuta, Tetsuro
000172009 773__ $$j7$$tInternational Journal Of Advanced Robotic Systems$$q83-92
000172009 909C0 $$0252016$$pLSRO
000172009 909CO $$ooai:infoscience.tind.io:172009$$pSTI$$particle
000172009 917Z8 $$x104561
000172009 937__ $$aEPFL-ARTICLE-172009
000172009 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000172009 980__ $$aARTICLE