配位座標の制限を伴う2指ハンドによる転がり接触の非ホロノミック性に基づく把持対象物の操り制御

抄録

This paper proposes a motion planning method to manipulate an grasped object by a two-fingered robot hand based on the nonholonomy of the rolling contacts. A cubic grasped object is regulated to a target configuration through regulating the contact coordinates between the fingers and object using the holonomy generated by closed paths on spherical finger-tips. The parameters of the closed paths are determined by solving an optimization problem with the constraints which consist of the limitations on the finger-tip/object surfaces and the finger joint configurations. The proposed method is verified by a numerical simulation, where the planned motion is impossible without using the nonholonomy.