Dexterous manipulation through rolling
- 1 January 1995
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 452-457
- https://doi.org/10.1109/robot.1995.525325
Abstract
Nonholonomic constraints in robotic systems arethe source of some di#culties in planning and control;however, they also introduce interesting propertiesthat can be practically exploited. In this paper weconsider the design of a robot hand that achieves dexterity#i.e., the ability to arbitrarily locate and reorientmanipulated objects# through rolling. Some interestingissues arising in planning and controlling motionsof such device are considered, including exact planningfor a spherical...Keywords
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