Task-based compliance planning for multi-fingered robotic manipulations

Based on the analysis of the stiffness relation between the operational space and the Ž ngertip space of multi-Ž ngered hands, this paper provides a guideline of task-based compliance planning for multi-Ž ngered robotic manipulations. In order to show the characteristics of the taskbased stiffness matrix, various twoand three-dimensional examples are illustrated. Also, it is shown that some of the coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffnessmatrix should be carefully speciŽ ed by considering the location of the compliance center and the grasp geometry of multiŽ ngered hands for successful grasping and manipulation tasks.