Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis
Abstract
When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.
BibTeX
@conference{Kim-2014-7922,author = {Sung Kyun Kim and Joonhee Jo and Yonghwan Oh and Sang-Rok Oh and Siddhartha Srinivasa and Maxim Likhachev},
title = {Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2014},
month = {September},
pages = {877 - 884},
}