Flipping a Stick Considering Drooping Constraints

抄録

This paper presents a constrained motion planning to flip objects grasped with two grasp points of the soft finger type while avoiding rotational slip/drooping. We study the drooping motion in inclined planes under the effect of the object weight and the friction torque from fingertips. The model of the drooping is derived and utilized in the proposed planner to restrict the robot poses that can cause the object in the end effector to slip. The planner is verified through the simulation of flipping a stick, and the generated robot motions enable correct execution of the flipping task without undesirable slip.