Abstract
Two problems in the study of multifingered robot hands are considered. These are: grasp planning and the determination of coordinated control laws with point contact models. Using the dual notions of grasp stability and manipulability, and a procedure previously developed for task modeling, the structure grasp quality measures are defined. These measures are then integrated to devise a grasp planning algorithm. Based on the assumption of point contact models, a computed-torque-like control algorithm is developed for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the hand, is computationally effective and can be generalized to allow rolling motion of the object with respect to the fingertip.
| Original language | English |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Publisher | IEEE |
| Pages | 384-389 |
| Number of pages | 6 |
| ISBN (Print) | 0818608528 |
| Publication status | Published - 1988 |
| Externally published | Yes |
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