Novel, compliant, synergistic interactions of multiple contacts for grasping

Dhiraj Nahar, Thomas Sugar, Paul Fussell

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we are solving two inverse design problems. We first determine the desired Cartesian stiffness matrix for each contact in a multi-contact grasp by solving an optimization problem. Secondly given the desired stiffness matrix, K, for each contact, we design a material to behave accordingly. The orientation for the material links, and the appropriate stiffness values for each link must be determined. We solve for the link stiffness values and for the link angles by setting up a robotics problem based on a similarity transformation using the well-known Jacobian. The joint angles in the Jacobian determine the link orientation, and the stiffness values determine the link parameters. We are also able to solve for redundant elements necessary to develop symmetric materials.

Original languageEnglish (US)
Title of host publicationRobotics, Automation, Control and Manufacturing
Subtitle of host publicationTrends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002
Pages237-242
Number of pages6
StatePublished - Dec 1 2002
Event9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 - Orlando, FL, United States
Duration: Jun 9 2002Jun 13 2002

Publication series

NameRobotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002
Volume14

Other

Other9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002
CountryUnited States
CityOrlando, FL
Period6/9/026/13/02

Keywords

  • Compliant materials
  • Grasping
  • Jacobian
  • Stiffness matrices

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

Cite this

Nahar, D., Sugar, T., & Fussell, P. (2002). Novel, compliant, synergistic interactions of multiple contacts for grasping. In Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002 (pp. 237-242). (Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002; Vol. 14).