Title :
Dextrous manipulation using qualitative reasoning. II. Modelling and synthesis of finger manipulative synergies
Author :
Ananthanarayanan, S.P. ; Goldberg, A.A. ; Mylopoulos, John
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Abstract :
For pt.I see ibid., p.625-30 (1993). In this paper, qualitative methods of modelling a dexterous manipulation process are discussed, to facilitate common-sense reasoning in the synthesis of manipulative synergies for an articulated robot hand. An ´incremental manipulation process´ for a robot hand, has been defined as a sequence of three basic operations. The mathematical modelling of these operations are provided. The implementation of this model is briefly discussed. The overall manipulation process is modelled as a ´quasi-static´ process that integrates the sequence of incremental manipulation processes. The rationale behind this modelling procedure is also discussed in this paper.<>
Keywords :
common-sense reasoning; manipulators; articulated robot hand; common-sense reasoning; dexterous manipulation; finger manipulative synergies; finger synergy modelling; finger synergy synthesis; incremental manipulation process; qualitative reasoning; Analytical models; Computer science; Fingers; Grain size; Laboratories; Mathematical model; Mechanical engineering; Problem-solving; Robotics and automation; Robots;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240669
