Manipulation with Inner Link Contacts of Multifingered Robot Hand. 1st Report. Dynamics of Manipulation.
نویسندگان
چکیده
منابع مشابه
Planning of graspless manipulation by a multifingered robot hand
Graspless (or nonprehensile) manipulation is a method to manipulate objects without grasping. It includes pushing, tumbling and pivoting. Graspless manipulation is important as a complement of conventional pick-and-place for the dexterity of robots. In this paper, we propose a method of planning of general graspless manipulation by multifingered robot hands; the method can automatically generat...
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We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties – prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object can be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is rolling or sliding motion between the fi...
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This paper describes a model-based grasp planner for an articulated multi-fingered robotic hand. The planner searches for an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. An adaptive search strategy has been developed and implemented : the error analysis of the failed grasp is made to find the...
متن کاملPrecision manipulation with a dextrous robot hand
Despite the building of a number of complex robot hands in the last two decades, there have been few experimental demonstrations of robot hand dexterity. This paper outlines several key issues associated with precision manipulation for robot hands. \Precision ma-nipulation" is deened as the control of grasped object position and applied force using nger-tip contacts alone. The approach taken is...
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Objectives: This study aimed at analyzing the test-retest and interrater reliabilities of the Test of In-Hand Manipulation-Modified (TIHM-M), as well as the relationship between in-hand manipulation and handwriting. Methods: We administered the TIHM-M twice, two days apart, and the Beknopte Beoordelingsmethode voor Kinder Handschriften (BHK) - Concise Assessment Method for children’s handwriti...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1998
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.64.2067