Title :
An analysis of squeezing and twisting for multifingered grasping
Author :
Chen, Yu-Che ; Walker, Ian D.
Author_Institution :
Dept. of Mech. Eng., Tulsa Univ., OK, USA
Abstract :
An analysis of the mechanics for multifingered grasps of planar and solid objects is presented. The main feature of the authors´ approach is the decomposition of the contact finger forces. At each grasp point, a contact force is resolved into components along the normal and tangential directions. This formulation of decomposition gives deeper physical insights into the roles of the normal and tangential finger force components for multifingered manipulation
Keywords :
robots; contact finger forces; force decomposition; force resolution; mechanics; multifingered grasps; planar objects; solid objects; squeezing; twisting; Educational institutions; Fingers; Grasping; Linear programming; Mechanical engineering; Robot sensing systems; Solids; Stability analysis; Sufficient conditions; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291851
