TY - GEN
T1 - A novel grasping mechanism for flat-shaped objects inspired by lateral grasp
AU - Kosuge, Kazuhiro
AU - Lee, Jina
AU - Ichinose, Junya
AU - Hirata, Yasuhisa
PY - 2008/12/1
Y1 - 2008/12/1
N2 - In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by human's lateral grasp. We analyze how the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate the effectiveness of the proposed grasping mechanism.
AB - In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by human's lateral grasp. We analyze how the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate the effectiveness of the proposed grasping mechanism.
UR - http://www.scopus.com/inward/record.url?scp=63049110168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63049110168&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2008.4762905
DO - 10.1109/BIOROB.2008.4762905
M3 - Conference contribution
AN - SCOPUS:63049110168
SN - 9781424428830
T3 - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
SP - 282
EP - 288
BT - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
T2 - 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Y2 - 19 October 2008 through 22 October 2008
ER -