Presented in 1st Korea/Japan Young Robotics Researchers Workshop, Korea, 2011.

1. Robotic manipulation by
incomplete grasping
Satoshi Makita
(Sasebo National College of Tech.)

2. Self-introduction
◦ 2010.03
Dr. of Eng. (Yokohama National University)
[Robotic manipulation by incomplete grasping]
◦ 2010.04-present
Assistant Professor
(Sasebo National College of Technology)
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3. My research topics
 Manipulation theory
◦ Analysis of contact forces in robotic
manipulation
 Calculate feasible contact forces
◦ Caging grasping
 Geometrical constraint by position-controlled
robots
 Robot hand design and control
 Manipulation planning
 Wire-driven hand
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4. Incomplete grasping
 Graspless manipulation
◦ The manipulated object is supported by not
only the robot hand but also the environment.
 Caging
◦ The manipulated object is constrained only by
the robot hand, but can move to some extent.
 c.f. Grasping
◦ The manipulated object is rigidly constrained
only by the robot hand.
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5. Graspless manipulation
 Robustness analysis
◦ How robust is the manipulated object against
some disturbances?
robust robust
?
not robust robust
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6. Caging
 Sufficient conditions for caging constraint
◦ Which configuration of the hand can make the
object inescapable geometrically?
inescapable escapable
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7. Caging
 Planning
◦ RRT-based motion planner
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8. Robotic hand
 Improvement manipulability of human-like
hand (tendon-wire-driven hand)
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9. National College of Technology
 Called “KOSEN” in Japanese
 Unique educational systems for engineers
◦ 5 years curriculum after graduation of JHS
(In general, 3years for HS and 4years for univ.)
◦ Focus on practical engineering
◦ Many experiment classes
◦ Write an academic thesis
 Activity: Robot contest
(RoboCon)
http://www.youtube.com/watch?v=afCrOMvo-cE 9

10. Hopes
 To learn Korean Robotics
 To make contacts each other
Thanks for your attention.
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