{"title":"棒状物体的两步抓取策略","authors":"M. Higashimori, M. Kimura, I. Ishii, M. Kaneko","doi":"10.1109/IROS.2005.1545527","DOIUrl":null,"url":null,"abstract":"This paper discusses 2D dynamic preshaping issue for a stick-shaped object changing both position and orientation with respect to time. We propose the two-step grasping strategy where it first stops the rotational motion by choosing an appropriate finger position, and then stops the translational motion step by step for completely making the object stationary. We confirm the basic idea by simulation.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Two-step grasping strategy for capturing a stick-shaped object\",\"authors\":\"M. Higashimori, M. Kimura, I. Ishii, M. Kaneko\",\"doi\":\"10.1109/IROS.2005.1545527\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper discusses 2D dynamic preshaping issue for a stick-shaped object changing both position and orientation with respect to time. We propose the two-step grasping strategy where it first stops the rotational motion by choosing an appropriate finger position, and then stops the translational motion step by step for completely making the object stationary. We confirm the basic idea by simulation.\",\"PeriodicalId\":189219,\"journal\":{\"name\":\"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-12-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2005.1545527\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2005.1545527","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Two-step grasping strategy for capturing a stick-shaped object
This paper discusses 2D dynamic preshaping issue for a stick-shaped object changing both position and orientation with respect to time. We propose the two-step grasping strategy where it first stops the rotational motion by choosing an appropriate finger position, and then stops the translational motion step by step for completely making the object stationary. We confirm the basic idea by simulation.
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