Title :
The instantaneous kinematics and planning of dextrous manipulation
Author :
Han, L. ; Trinkle, J.C. ; Li, Z.X.
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. In this paper, we derive in detail the kinematic relations between the finger joint velocities and object/contact velocity. The problem of dextrous manipulation is precisely formulated and cast in a form suitable for integrating relevant theory of nonholonomic motion planning, potential field methods and grasp stability to develop a general technique for dextrous manipulation planning with multifingered hands
Keywords :
manipulator kinematics; path planning; stability; contact velocity; dextrous manipulator; finger joint velocity; grasp stability; kinematics; multifingered robotic hands; nonholonomic motion planning; potential field; Computer science; Fingers; Gaussian processes; Gratings; Motion planning; Robot kinematics; Stability; Tensile stress; Trajectory; Water resources;
Conference_Titel :
Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on
Conference_Location :
Marina del Rey, CA
Print_ISBN :
0-7803-3820-0
DOI :
10.1109/ISATP.1997.615385
