In-Hand Rolling Manipulation Based on Ball-on-Cloth System
Hinano Ichikura,Mitsuru Higashimori,Hinano Ichikura,Mitsuru Higashimori
This paper presents a novel in-hand rolling manipulation method in which a ball on a cloth attached to fingertips is controlled using flexible and adaptive deformation of the cloth. First, an analytical model of the ball-on-cloth system is introduced. The shape of the cloth is simplified, and the rolling constraint of the ball on the cloth is defined focusing on the lowest point of the ball. Next,...
