Soft Contact-based Rigid Object Manipulation : Planar Case
نویسندگان
چکیده
This paper focuses on the soft contact-based rigid object manipulation. First, a dynamic model of an object manipulation by two-fingered robot hand with soft fingertips is presented. In particular, we deal with a planar case to show certain valuable features in softfingertiped manipulation tasks. Next, in order to analyze the motion of using soft fingertips, a dynamic manipulation control scheme is employed. Finally, the influence of the dynamic deformation of soft fingertips applied in a rigid object manipulating task is demonstrated by several simulations.
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