Rolling-based manipulation for multiple objects
Year: 2000
Type: article
Abstract: This paper discusses the manipulation of multiple objects under rolling contacts. For manipulating multiple objects, the following two key issues do not arise in the manipulation of a single object: 1) each object's motion is restricted by the other objects; and 2) the contact force among objects is not controlled directly. As for (1), we first formulate the motion constraint for the whole grasp system, and then provide a necessary condition for manipulating multiple objects uniquely. As for (2), we provide a condition for determining the contact forces among objects uniquely. We further show a sufficient condition for manipulating multiple objects within the object motion constraint. Under this sufficient condition, we propose a control scheme for object motion by taking the motion constraint into account. Simulation and experimental results are provided to confirm our idea.
DOI: 10.1109/70.880797
Authors: K. Harada, M. Kaneko, T. Tsujii
Institution: Hiroshima University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2114112336