Two-dimensional dynamic modeling of a sliding motion of a soft fingertip focusing on stick-to-slip transition

Van Anh Ho, Shinichi Hirai
2010 2010 IEEE International Conference on Robotics and Automation  
We describe here our proposed method to investigate the sliding motion of a soft fingertip in the dexterous manipulation. This paper focuses on analyzing dynamic sliding motion of a 2-dimensional (2-D) soft fingertip on a plane. To investigate the deformation of the fingertip during this process, we consider the soft fingertip as if it was composed of a finite number of elastic cantilevers which are compressible and bendable. Simulation will be carried out firstly on this 2-D model of soft
more » ... rtip, focusing on the analysis of incident slippage. After that, various experimental results will be shown to verify this model.
doi:10.1109/robot.2010.5509330 dblp:conf/icra/HoH10 fatcat:jextkokh7fg3hf2brp33hv446y