DocumentCode :
2530921
Title :
Robotic hands with rheological surfaces
Author :
Brockett, Roger
Author_Institution :
Harvard University
Volume :
2
fYear :
1985
fDate :
31107
Firstpage :
942
Lastpage :
946
Abstract :
The purpose of this paper is to analyze, in some depth, the processes involved in the manipulation of solid objects using robotic hands. Such an analysis has implications for design, control, and motion planning. We make a case for the use of finger surfaces which have a distributed compliance and show how such surfaces may be realized by fluid filled pods. The arguments given are based on an analysis of the complexity of the kinematic programming problem, an enumeration of the number of independent feedback control channels necessary for achieving a firm grasp and an examination of frictional forces. We emphasize the necessity of dealing with models which lead to well-posed problems throughout the grasping process and point out some of the ways that earlier models lead to ambiguous situations.
Keywords :
Fingers; Grasping; Kinematics; Motion analysis; Motion control; Motion planning; Rheology; Robots; Signal design; Solids;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1985 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1985.1087360
Filename :
1087360
Link To Document :
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