DocumentCode
3343677
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
fYear
1997
fDate
7-9 Aug 1997
Firstpage
60
Lastpage
65
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ISATP.1997.615385
Filename
615385
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