Title :
The self-reconfiguration of a holonic hand: the holonic regrasp
Author :
Durna, M. ; Erkmen, A.M. ; Erkmen, I.
Author_Institution :
Dept. of Electr. & Electron., Middle East Tech. Univ., Ankara, Turkey
Abstract :
This paper uses a holonic hand model introduced in our early works (1998), which is composed of 2-stems-of-links-1-joint nonconvex biped planar holons working in colony in order to perform dexterous grasps. This paper focuses on the reconfiguration control of the colony that we structure as a sequence of planar grasp operations defining a holonic regrasp, which uses a graph theoretic formalization of configuration changes that occur in this holonic hand during this regrasping phase
Keywords :
dexterous manipulators; manipulator kinematics; self-adjusting systems; dexterous manipulators; distributed structures; holonic regrasp; planar grasp operations; regrasping; robotic hand; self-reconfiguration; Ear; Fractals; Genetic algorithms; Grasping; Kinematics; Prototypes; Robots; Simulated annealing; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895263
