Development of multi-fingered dexterous hand for grasping manipulation
نویسندگان
چکیده
منابع مشابه
Hand Posture Subspaces for Dexterous Robotic Grasping
In this paper we focus on the concept of low-dimensional posture subspaces for artificial hands. We begin by discussing the applicability of a hand configuration subspace to the problem of automated grasp synthesis our results show that low-dimensional optimization can be instrumental in deriving effective pre-grasp shapes for a number of complex robotic hands. We then show that the computation...
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An important issue in controlling a multi-fingered robotic hand grasping an object is the evaluation of the minimal contact forces able to guarantee the stability of the grasp and its feasibility. This problem can be solved online if suitable sensing information is available. In detail, using finger tactile information and contact force measurements, an efficient algorithm is developed to compu...
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متن کاملDexterous Multi-fingered Robotic Manipulation using Novel Fingertip Equipped with Soft Skin and Hard Nail
This paper describes dexterous multi-fingered manipulation using a novel fingertip equipped with a soft elastic cover and a solid nail. The soft elastic cover of the fingertip enables changing friction coefficient at the contact with an object. The solid nail enables detecting a very small step of sub-millimeter on a smooth surface.
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ژورنال
عنوان ژورنال: Science China Information Sciences
سال: 2014
ISSN: 1674-733X,1869-1919
DOI: 10.1007/s11432-014-5192-7