Compliant manipulation with a dextrous robot hand
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 711-716 vol.3
- https://doi.org/10.1109/robot.1993.291822
Abstract
The control of precise, compliant manipulation tasks with multifingered robots is discussed. Emphasis is placed on performing manipulations of grasped objects that are themselves undergoing compliant motion. This class of manipulations include common tasks such as using tools, writing, and sliding an object on a surface. A task-level formulation is presented and illustrated. Results of experiments are presented to demonstrate the feasibility of performing precision manipulations with a dextrous hand.Keywords
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