Abstract
This paper discusses grasping and manipulating multiple objects by an enveloping style. We formulate the motion constraint for enveloping multiple objects under rolling contacts. We further provide a sufficient condition for producing a relative motion between objects. We show that a three-fingered robot hand experimentally succeeds in lifting up two cylindrical objects from a table and in changing their relative positions within the hand.
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© 2000 Springer-Verlag London Limited
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Kaneko, M., Harada, K., Tsuji, T. (2000). Experimental approach on grasping and manipulating multiple objects. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119384
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DOI: https://doi.org/10.1007/BFb0119384
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Online ISBN: 978-1-84628-541-7
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