Title :
Task-based compliance planning for multifingered hands
Author :
Kim, Byoung-Ho ; Yi, Byung-Ju ; Oh, Sang-Rok ; Suh, Il Hong
Author_Institution :
Sch. of Electr. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. 2D and 3D examples are illustrated to show the characteristics of the task-based stiffness matrix. It is shown that some of coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.
Keywords :
compliance control; dexterous manipulators; manipulator kinematics; matrix algebra; path planning; compliance planning; grasping geometry; manipulators; multifingered hands; task-based stiffness matrix; Computational geometry; Computer science; Fingers; Force control; Force sensors; Grasping; Guidelines; Orbital robotics; Robot control; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933017
