Title :
A study on the stable grasping by a redundant multi-fingered robot hand
Author :
Kumazaki, K. ; Svinin, M. ; Luo, Z. ; Odashima, T. ; Hosoe, S.
Author_Institution :
Nagoya Univ., Aichi, Japan
Abstract :
This paper deals with the stability of multi-fingered robot hand grasping. First, the problem is addressed at the force planning level. Next, the end point stiffness is distributed between redundant finger joints. The resulting control law is tested by an experiment with 3-fingered robot hand.
Keywords :
redundant manipulators; stability; 3-fingered robot hand; force planning; redundant multifingered robot hand; stability; stable grasping; Damping; Equations; Fingers; Force control; Grasping; Gravity; Robots; Stability; Tensile stress; Testing;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195218
