A:Description:
In this video, manipulating 2-D or 3-D object by two robot fingers with soft and hemispherical ends is shown in numerical simulation and experiment.
In simulation case 1, realizing stable grasping by using a proposed control input called ``blind graspingff is shown in case of 2-D object with non-parallel flat surfaces.
In simulation case 2, realizing stable grasping by using the proposed control input is shown in case of 3-D object with parallel flat surfaces.
In simulation cases 3 and 4, it is shown that physical parameters of stiffness and viscosity of the finger-end soft material are sensitive to performances of stable motion of grasping.
In experiment, it is shown that after realizing stable grasping by using a proposed control input called ``blind graspingff, the control input is robust for external force.

B:Player Information:
This file format is mpeg1. 
It is no problem whatever you play mepge1 format, for example, windows media player.

C:Contact Information:
Morio Yoshida.
Biomimetic Control Research Center, RIKEN
2271-130, Anagahora, Shimoshidami, Moriyama-ku, Nagoya, 463-0003 JAPAN.
Tel:+81-52-736-5850.
Fax:+81+52-736-5854.


Attachment filename: 0292_VI.mpg (4929540 Bytes)