• DocumentCode
    3099664
  • Title

    Control of a finger-arm robot by employing the steepest ascent method to modulate the finger’s manipulability

  • Author

    Huang, Jian ; Harada, Minoru ; Yamada, Daisuke ; Hara, Masayuki ; Yabuta, Tetsuro

  • Author_Institution
    Dept. of Mech. Eng., Yokohama Nat. Univ., Yokohama
  • fYear
    2008
  • fDate
    22-26 Sept. 2008
  • Firstpage
    4192
  • Lastpage
    4192
  • Abstract
    Human beings usually locate their hand at the position with a higher moving potential in order to easily deal with various situations. Inspired by the human hand-arm movement, this study proposes a motion control issue for a serial-linkage finger-arm robot according to Wf.
  • Keywords
    humanoid robots; manipulators; motion control; finger manipulability; hand-arm movement; motion control; serial-linkage finger-arm robot control; steepest ascent method; Aerospace electronics; Fingers; Humans; Manipulators; Motion control; Robots; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
  • Conference_Location
    Nice
  • Print_ISBN
    978-1-4244-2057-5
  • Type

    conf

  • DOI
    10.1109/IROS.2008.4651247
  • Filename
    4651247
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3099664