Position/Stiffness-based Manipulation by Multifingered Hand.
نویسندگان
چکیده
منابع مشابه
Grasp Planning for Precision Manipulation by Multifingered Robotic Hand
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 کاملPlanning 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...
متن کاملRotary Surface Object Manipulation by Multifingered Robot Hand
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...
متن کاملStudies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-hand Systems
The major purpose of this thesis is to discuss the various problems of the gra.sping and manipulation by robotic multifingered hands and arm-hand systems. This thesis consists of two parts. In the first part of Chapters 2 through 4, dliscussions are made on gra.sping and manipulation by multifingered hands. In the second part of Chapters 5 and 6, cooperative manipulations with grasping by macro...
متن کاملKinematic Graspability of a 2D Multifingered Hand
In this paper, we describe a solution to the problem of determining the kinematic feasibility of a dextrous hand to grasp a given object at a desired connguration in the two dimensional space. We refer to this problem as kinematic graspability. The kinematic conngu-ration of a grasp is deened in terms of a set of contact pairs between the topological features of the hand and the object. We deri...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1991
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.9.580