An approach toward a robust object recovery with flexible manipulators

Tomohiro Miyabe; Mitsuhiro Yamano; Atsushi Konno; Masaru Uchiyama

An approach toward a robust object recovery with flexible manipulators

Tomohiro Miyabe, Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.

Original language	English
Pages	907-912
Number of pages	6
Publication status	Published - 2001
Externally published	Yes
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: 2001 Oct 29 → 2001 Nov 3

Other

Other	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	01/10/29 → 01/11/3

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

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title = "An approach toward a robust object recovery with flexible manipulators",

abstract = "This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.",

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AU - Miyabe, Tomohiro

AU - Yamano, Mitsuhiro

AU - Konno, Atsushi

AU - Uchiyama, Masaru

PY - 2001

Y1 - 2001

N2 - This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.

AB - This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.

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M3 - Paper

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T2 - 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 29 October 2001 through 3 November 2001

ER -

An approach toward a robust object recovery with flexible manipulators

Abstract

Other

ASJC Scopus subject areas

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