Title :
Dextrous manipulation with rolling contacts
Author :
Han, L. ; Guan, Y.S. ; Li, Z.X. ; Shi, Q. ; Trinkle, J.C.
Author_Institution :
Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
Abstract :
Dextrous manipulation is a problem of paramount importance in the study of multifingered robotic hands. Given a grasped object, the main objectives are: (a) generate trajectories for the finger joints so that through the effects of contact constraints, the object can be transferred to a goal grasp configuration; and (b) derive control algorithms to realize planned trajectories. In this paper, we integrate the relevant theories of contact kinematics, nonholonomic motion planning and grasp stability to develop a general technique for dextrous manipulation planning with multifingered hands. Experimental results are discussed
Keywords :
manipulator kinematics; path planning; stability; contact kinematics; dextrous manipulation planning; finger joints; goal grasp configuration; grasp stability; multifingered robotic hands; nonholonomic motion planning; rolling contacts; trajectory generation; Drives; Fingers; Gaussian processes; Motion planning; Robot kinematics; Stability; Tail; Technology planning; Tensile stress; Trajectory;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614264
