Finger force computation without the grip jacobian
- 1 January 1986
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 871-875
- https://doi.org/10.1109/robot.1986.1087625
Abstract
This paper presents a fast and efficient way to compute the mapping from a desired external force on a grasped object to the joint torques of a multi-jointed, multi-fingered dexterous hand. The efficiency derives from avoiding the use of any Jacobian. The algorithm models contacts as point contacts with friction and works for three or four-fingered dexterous hands.Keywords
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