Manipulation of a circular object in a horizontal plane by two finger robots

Abstract

This paper proposes a manipulation of a circular object in a horizontal plane by a pair of finger robots. This method is a quite simple because it does not need to solve any inverse dynamics and inverse kinematics to construct the control input. We examine the condition of stable grasping of a circular object and propose a method for stable grasping without object sensing and for controlling its approximate relative orientation angle. The experimental results show the validity of the controller