Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2012, Article ID 949834, 22 pages
http://dx.doi.org/10.1155/2012/949834
Research Article

Parallel-Distributed Model Deformation in the Fingertips for Stable Grasping and Object Manipulation

1Facultad de Ingeniería y Ciencias Aplicadas, Universidad de los Andes, Av. San Carlos de Apoquindo 2200, Las Condes, Santiago, Chile
2Departamento de Ingeniería Eléctrica, Universidad de Chile, Av. Tupper 2007, Santiago, Chile

Received 27 April 2012; Revised 13 July 2012; Accepted 25 July 2012

Academic Editor: J. Rodellar

Copyright © 2012 R. García-Rodríguez and G. Díaz-Rodríguez. 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.

Linked References

  1. J. R. Flanagan and R. S. Johansson, Hand Movements, Encyclopedia of the Human Brain, vol. 2, Academic Press, San Diego, Calif, USA, 2002.
  2. A. M. Okamura, N. Smaby, and M. R. Cutkosky, “Overview of dexterous manipulation,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), pp. 255–262, April 2000. View at Scopus
  3. J. K. Salisbury and B. Roth, “Kinematic and force analysis of articulated mechanical hands,” Journal of Mechanisms, Transmissions, and Automation in Design, vol. 105, no. 1, pp. 35–41, 1983. View at Google Scholar · View at Scopus
  4. E. A. Al-Gallaf, “Multi-fingered robot hand optimal task force distribution: neural inverse kinematics approach,” Robotics and Autonomous Systems, vol. 54, no. 1, pp. 34–51, 2006. View at Publisher · View at Google Scholar · View at Scopus
  5. A. Bicchi, “Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity,” IEEE Transactions on Robotics and Automation, vol. 16, no. 6, pp. 652–662, 2000. View at Publisher · View at Google Scholar · View at Scopus
  6. W. Gueaieb, S. Al-Sharhan, and M. Bolic, “Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics,” Automatica, vol. 43, no. 5, pp. 842–851, 2007. View at Publisher · View at Google Scholar · View at Zentralblatt MATH
  7. J.-W. Li, H. Liu, and H.-G. Cai, “On computing three-finger force-closure grasps of 2-D and 3-D objects,” IEEE Transactions on Robotics and Automation, vol. 19, no. 1, pp. 155–161, 2003. View at Publisher · View at Google Scholar · View at Scopus
  8. H. Kawasaki, R. Bin Ramli, and S. Ueki, “Decentralized adaptive coordinated control of multiple robot arms for constrained tasks,” Journal of Robotics and Mechatronics, vol. 18, no. 5, pp. 580–588, 2006. View at Google Scholar
  9. T. Naniwa and K. Wada, “Experimental study of coordinated control of multifingered hands with the kinetostatic filtering method,” Advanced Robotics, vol. 19, no. 2, pp. 191–206, 2005. View at Publisher · View at Google Scholar · View at Scopus
  10. E. Rimon, “A curvature-based bound on the number of frictionless fingers required to immobilize three-dimensional objects,” IEEE Transactions on Robotics and Automation, vol. 17, no. 5, pp. 679–697, 2001. View at Publisher · View at Google Scholar · View at Scopus
  11. X.-Z. Zheng, R. Nakashima, and T. Yoshikawa, “On dynamic control of finger sliding and object motion in manipulation with multifingered hands,” IEEE Transactions on Robotics and Automation, vol. 16, no. 5, pp. 469–481, 2000. View at Publisher · View at Google Scholar · View at Scopus
  12. A. B. A. Cole, J. E. Hauser, and S. S. Sastry, “Kinematics and control of multifingered hands with rolling contact,” Institute of Electrical and Electronics Engineers, vol. 34, no. 4, pp. 398–404, 1989. View at Publisher · View at Google Scholar · View at Zentralblatt MATH
  13. A. Nakashima, K. Nagase, and Y. Hayakawa, “Control of contact points of two- fingered robot hand with manipulating an object,” in Proceedings of the ICASE/SICE Joint Workshop, pp. 120–125, 2004.
  14. A. I. Tuneski and G. Rafajlovski, “Adaptive control of multiple robots manipulation on dynamical environment,” in Proceedings of the 7th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA '99), vol. 1, pp. 623–632, October 1999. View at Scopus
  15. M. Zribi, J. Chen, and M. S. Mahmoud, “Coordination and control of multi-fingered robot hands with rolling and sliding contacts,” Journal of Intelligent and Robotic Systems, vol. 24, no. 2, pp. 125–149, 1999. View at Google Scholar · View at Scopus
  16. C. Borst, M. Fischer, and G. Hirzinger, “Grasp planning: how to choose a suitable task wrench space,” in Proceedings IEEE International Conference on Robotics and Automation, pp. 319–325, May 2004. View at Scopus
  17. I. Kao and F. Yang, “Stiffness and contact mechanics for soft fingers in grasping and manipulation,” IEEE Transactions on Robotics and Automation, vol. 20, no. 1, pp. 132–135, 2004. View at Publisher · View at Google Scholar · View at Scopus
  18. S. K. Song, J. B. Park, and Y. H. Choi, “Grasping control of 3-joint dual finger robot: lyapunov stability approach,” in Proceedings of the American Control Conference (ACC '09), pp. 2879–2884, St. Louis, Mo, USA, June 2009. View at Publisher · View at Google Scholar · View at Scopus
  19. Y. Xue and I. Kao, “Dextrous sliding manipulating using soft fingertips,” in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 3397–3402, May 1994. View at Scopus
  20. P. Akella and M. Cutkosky, “Manipulating with soft fingers,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 767–769, 1989.
  21. K. B. Shimoga and A. A. Goldenberg, “Soft materials for robotic fingers,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1300–1305, May 1992. View at Scopus
  22. I. Kao and F. Yang, “Stiffness and contact mechanics for soft fingers in grasping andmanipulation,” IEEE Transactions on Robotics and Automation, vol. 20, no. 1, pp. 132–135, 2004. View at Publisher · View at Google Scholar · View at Scopus
  23. D. J. Montana, “Kinematics of contact and grasp,” International Journal of Robotics Research, vol. 7, no. 3, pp. 17–32, 1988. View at Google Scholar · View at Scopus
  24. Y. Yokokohji, M. Sakamoto, and T. Yoshikawa, “Vision-aided object manipulation by a multifingered hand with soft fingertips,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '99), vol. 4, pp. 3201–3208, May 1999. View at Scopus
  25. T. Inoue and S. Hirai, Mechanics and Control of Soft-Fingered Manipulation, Springer, 2009.
  26. S. Arimoto, “Intelligent control of multi-fingered hands,” Annual Reviews in Control, vol. 28, no. 1, pp. 75–85, 2004. View at Google Scholar
  27. M. Yoshida, S. Arimoto, and J. H. Bae, “Blind grasp and manipulation of a rigid object by a pair of robot fingers with soft tips,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pp. 4707–4714, Rome, Italy, April 2007. View at Publisher · View at Google Scholar · View at Scopus
  28. S. Arimoto, P. T. A. Nguyen, H. Y. Han, and Z. Doulgeri, “Dynamics and control of a set of dual fingers with soft tips,” Robotica, vol. 18, no. 1, pp. 71–80, 2000. View at Publisher · View at Google Scholar · View at Scopus
  29. M. L. Latash and M. L. Zatsiorsky, “Principle of superposition in human prehension,” in Advances in Robot Control, pp. 249–261, Springer, 2006. View at Google Scholar
  30. S. Arimoto, “Reduction of complexity in learning dexterous multi-fingered motions: a theoretical exploration into a future problem C. E. Shannon raised,” Communications in Information and Systems, vol. 1, no. 1, pp. 1–14, 2001. View at Google Scholar · View at Zentralblatt MATH
  31. H. Goldstein, C. P. Poole, and J. L. Safko, Classical Mechanics, Addison Wesley, 3rd edition, 2002.
  32. F. L. Lewis and C. T. Abdallaah, Control of Robot Manipulators, Macmillan, New York, NY, USA, 1994.
  33. J. Baumgarte, “Stabilization of constraints and integrals of motion in dynamical systems,” Computer Methods in Applied Mechanics and Engineering, vol. 1, pp. 1–16, 1972. View at Publisher · View at Google Scholar · View at Zentralblatt MATH