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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933048
