An approach toward a robust object recovery with flexible manipulators

Tomohiro Miyabe, Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)

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 languageEnglish
Pages907-912
Number of pages6
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityMaui, HI
Period01/10/2901/11/3

ASJC Scopus subject areas

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

Fingerprint

Dive into the research topics of 'An approach toward a robust object recovery with flexible manipulators'. Together they form a unique fingerprint.

Cite this