Dextrous manipulation with rolling contacts
- 22 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 992-997
- https://doi.org/10.1109/robot.1997.614264
Abstract
Dextrous manipulation is a problem of paramount importance in the study of multifingered robotic hands. Given a grasped object, the main objectives are: (a) generate trajectories for the finger joints so that through the effects of contact constraints, the object can be transferred to a goal grasp configuration; and (b) derive control algorithms to realize planned trajectories. In this paper, we integrate the relevant theories of contact kinematics, nonholonomic motion planning and grasp stability to develop a general technique for dextrous manipulation planning with multifingered hands. Experimental results are discussed.Keywords
This publication has 4 references indexed in Scilit:
- Contact localization using force/torque measurementsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The kinematics of multi-fingered manipulationIEEE Transactions on Robotics and Automation, 1995
- Motion of two rigid bodies with rolling constraintIEEE Transactions on Robotics and Automation, 1990
- The Kinematics of Contact and GraspThe International Journal of Robotics Research, 1988