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ICRA 2019 Digest Final

https://doi.org/10.1109/ICRA.2019.8793894

Mu, Xiaoqian; Xue, Yuechuan; Jia, Yan-Bin (May 2019, International Conference on Robotics and Automation)

Effectiveness of cutting is measured by the ability to achieve material fracture with smooth knife movements. The work performed by a knife overcomes the material toughness, acts against the blade-material friction, and generates shape deformation. This paper studies how to control a 2-DOF robotic arm equipped with a force/torque sensor to cut through an object in a sequence of three moves: press, push, and slice. For each move, a separate control strategy in the Cartesian space is designed to incorporate contact and/or force constraints while following some prescribed trajectory. Experiments conducted over several types of natural foods have demonstrated smooth motions like would be commanded by a human hand.
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Dexterous Manipulation by Two Fingers with Coupled Joints

Jia, Yan-Bin; Xue, Yuechuan (May 2018, IEEE International Conference on Robotics and Automation)

This paper studies dexterous manipulation in the plane by a two-fingered hand in the plane. The dynamics of each finger, which consists of two links with coupled joints, are derived based on Lagrangian mechanics. As an object is being manipulated, its orientation and the two independent joint angles of the hand constitute the state of the entire system. Contact kinematics, accounting for both stick and slip modes, are combined with dynamics to establish a dependence of the object's linear and angular accelerations on joint accelerations. This allows control of joint torques, under a proportional-derivative (PD) law, to move the object to a target position in a desired orientation.
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Dexterous Manipulation by Two Fingers with Coupled Joints

Jia, Yan-Bin; Xue, Yuechuan (May 2018, IEEE International Conference on Robotics and Automation)

This paper studies dexterous manipulation in the plane by a two-fingered hand in the plane. The dynamics of each finger, which consists of two links with coupled joints, are derived based on Lagrangian mechanics. As an object is being manipulated, its orientation and the two independent joint angles of the hand constitute the state of the entire system. Contact kinematics, accounting for both stick and slip modes, are combined with dynamics to establish a dependence of the object's linear and angular accelerations on joint accelerations. This allows control of joint torques, under a proportional-derivative (PD) law, to move the object to a target position in a desired orientation.
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Full Text Available
Dexterous manipulation by two fingers with coupled joints

Jia, Yan-Bin; Xue, Yuechuan. (May 2018, IEEE International Conference on Robotics and Automation)

This paper studies dexterous manipulation in the plane by a two-fingered hand in the plane. The dynamics of each finger, which consists of two links with coupled joints, are derived based on Lagrangian mechanics. As an object is being manipulated, its orientation and the two independent joint angles of the hand constitute the state of the entire system. Contact kinematics, accounting for both stick and slip modes, are combined with dynamics to establish a dependence of the object's linear and angular accelerations on joint accelerations. This allows control of joint torques, under a proportional-derivative (PD) law, to move the object to a target position in a desired orientation.
more » « less
Full Text Available

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