DocumentCode
1747580
Title
Theoretical and experimental investigation of stratified robotic finger gaiting
Author
Goodwine, Bill ; Wei, Yejun
Author_Institution
Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA
Volume
3
fYear
2001
fDate
2001
Firstpage
2811
Abstract
This paper presents the development and experimental verification of a general control framework for robotic grasping and manipulation problems where "fingers" manipulate a grasped object. The method is general in that it is independent of object and finger geometries. Application of the method in simulation and to a real experimental platform are presented.
Keywords
manipulators; robotic grasping; robotic manipulation; stratified robotic finger gaiting; Control systems; Equations; Fingers; Grasping; Legged locomotion; Motion analysis; Motion planning; Robot control; Robot kinematics; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933048
Filename
933048
Link To Document