抄録
A dynamic manipulation of flexible object is needed for food industry. In this paper, we propose a new entirely strategy of rotational holding of discotic flexible object, and verify the proposed strategy by simulations. In this strategy, one finger holds a center of gravity of the object, and another finger holds an angular velocity at constant. Simulations show that we need at most two control points in order to hold a rotational steady state of the discotic flexible object.
