DocumentCode
306477
Title
Dexterous manipulation system with a multi-fingered hand and multi-sensors
Author
Hasegawa, Tsutomu ; Matsuoka, Takeshi ; Kiriki, Toshihiro ; Honda, Kyuhei
Author_Institution
Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
Volume
2
fYear
1996
fDate
14-17 Oct 1996
Firstpage
1611
Abstract
This paper describes a dexterous manipulation system with a multi-fingered hand and multi-sensors. The system is capable of dexterous manipulation by rolling contact between fingertips and a grasped object. A mathematical model of the kinematics of rolling contact, a trajectory and force planning algorithm, a 3D real time visual system, and the actual implementation of the system are explained together with results of experiments verifying our approach
Keywords
force control; image sensors; manipulator kinematics; position control; position measurement; robot vision; 3D real time visual system; dexterous manipulation system; fingertips; force planning algorithm; grasped object; multi-fingered hand; rolling contact; trajectory planning algorithm; Differential equations; Fingers; Kinematics; Null space; Radiofrequency interference; Stacking; Virtual colonoscopy;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location
Beijing
ISSN
1062-922X
Print_ISBN
0-7803-3280-6
Type
conf
DOI
10.1109/ICSMC.1996.571397
Filename
571397
Link To Document