The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 3P1-R04
Conference information
3P1-R04 Classification and Verification of 2D In-Hand Caging Manipulation(Robot Hand Mechanism and Grasping Strategy (1))
Yuuri KURATAYusuke MAEDA
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract
In this paper, we studied 2D in-hand caging manipulation, in which an object is manipulated geometrically in a robot hand. We classified robot hands for in-hand caging manipulation according to their mechanism and manipulation characteristics. In-hand manipulation tasks were also classified according to allowable goal configurations. Finally, we proposed several designs of robot hands for in-hand caging manipulation. Prototypes of some of them were built and verified.
Content from these authors
© 2014 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top