Carnegie Mellon University
The
Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis

Sung Kyun Kim , Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha Srinivasa, and Maxim Likhachev
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.

Notes

Text Reference
Sung Kyun Kim , Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha Srinivasa, and Maxim Likhachev , "Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014.

BibTeX Reference
@inproceedings{Kim__2014_7676,
   author = "Sung Kyun {Kim } and Joonhee Jo and Yonghwan Oh and Sang-Rok Oh and Siddhartha Srinivasa and Maxim {Likhachev }",
   title = "Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
   month = "September",
   year = "2014",
}