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Journal of Robotics
Volume 2010 (2010), Article ID 926579, 13 pages
Research Article

Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes: A Riemannian-Geometry Approach

1Research Organization of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan
2RIKEN-TRI Collaboration, Center for Human-Interactive Robot Research, Nagoya, Aichi 463-0003, Japan

Received 16 July 2009; Revised 7 December 2009; Accepted 19 January 2010

Academic Editor: Warren Dixon

Copyright © 2010 Suguru Arimoto and Morio Yoshida. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Modeling, control, and stabilization of dynamics of two-dimensional object grasping by using a pair of multijoint robot fingers are investigated under rolling contact constraints and arbitrariness of the geometry of the object and fingertips. First, modeling of rolling motion between 2D rigid bodies with arbitrary shape is treated under the assumption that the two contour curves coincide at the contact point and share the same tangent. The rolling constraints induce the Euler equation of motion that is parameterized by a pair of arclength parameters and constrained onto the kernel space as an orthogonal complement to the image space spanned from all the constraint gradients. Furthermore, it is shown that all the Pfaffian forms of the rolling constraints are integrable in the sense of Frobenius and therefore the rolling contacts are regarded as a holonomic constraint. The Euler-Lagrange equation of motion of the overall fingers/object system is rederived together with a couple of first-order differential equations that express evolution of contact points in terms of quantities of the second fundamental form. A control signal called “blind grasping” is defined and shown to be effective in maintenance or stabilization of grasping without using the details of object shape and parameters or external sensing. An extension of the Dirichlet-Lagrange stability theorem to a system of DOF-redundancy under constraints is discussed by introducing a Morse-Bott function and deriving its Hessian, in a special case that the object to be grasped is a parallelepiped.