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
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;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651247
