Biologically Inspired Perimeter Detection for Whole-Arm Grasping
Figure 1
(a) Coordinate frames are assigned to a 10-link serial link manipulator, with “” in all frames pointing out of the page. Link lengths can vary and are measured between joint centers as shown for . Counter-clockwise rotation about the -axis is positive. Controlling the manipulator so that it encircles an object and applies the necessary forces at all contact points to ensure a stable grasp is referred to as whole-arm grasping. (b) Experimental hardware demonstrating whole-arm grasping. Stages of the whole-arm grasping include (A) starting from an initial random position, (B) straightening out prior to a “sweep-phase”, (C) proximal joints sweeping prior to contact, and (D) distal joints sweeping to complete the encirclement.
