2026-03-12T08:24:50Z https://hiroshima.repo.nii.ac.jp/oai

oai:hiroshima.repo.nii.ac.jp:02007015 2025-02-21T08:58:57Z 1730444907710

Rolling-based manipulation for multiple objects Harada, Kensuke Kaneko, Makoto Tsuji, Toshio Manipulation multiple objects rolling contact 530 This paper discusses the manipulation of multiple objects under rolling contacts. For manipulating multiple objects, the following two key issues do not arise in the manipulation of a single object: 1) each object's motion is restricted by the other objects and 2) the contact force among objects is not controlled directly. As for 1), we first formulate the motion constraint for the whole grasp system, and then provide a necessary condition for manipulating multiple objects uniquely. As for 2), we provide a condition for determining the contact forces among objects uniquely. We further show a sufficient condition for manipulating multiple objects within the object motion constraint. Under this sufficient condition, we propose a control scheme for object motion by taking the motion constraint into account. Simulation and experimental results are provided to confirm our idea. http://purl.org/coar/resource_type/c_6501 IEEE 2000 VoR 1042-296X 457 IEEE Transactions on Robotics and Automation 5 16 468 457 IEEE Transactions on Robotics and Automation https://hiroshima.repo.nii.ac.jp/records/2007015 eng 10.1109/70.880797 http://dx.doi.org/10.1109/70.880797 open access Copyright (c) 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.