Title :
Towards task-directed coordinated manipulation
Author :
Back, Allen ; Rus, Daniela
Author_Institution :
Cornell Univ., Ithaca, NY, USA
Abstract :
The authors analyze the feasibility of the finger tracking paradigm for multi-finger manipulation introduced by D. Rus (1992) and relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem they are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible starting from this grasp. This results in a provably correct global strategy for reorientation
Keywords :
manipulators; feasibility; finger tracking paradigm; geometry of singularities; instantaneous motion problem; multi-finger manipulation; task-directed coordinated manipulation; task-directed programming; Fingers; Fixtures; Geometry; Manipulators; Mathematics; Mobile robots; Motion analysis; Robot kinematics; Robot programming; Tracking;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583852
