Title :
Dexterous manipulation system with a multi-fingered hand and multi-sensors
Author :
Hasegawa, Tsutomu ; Matsuoka, Takeshi ; Kiriki, Toshihiro ; Honda, Kyuhei
Author_Institution :
Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
Abstract :
This paper describes a dexterous manipulation system with a multi-fingered hand and multi-sensors. The system is capable of dexterous manipulation by rolling contact between fingertips and a grasped object. A mathematical model of the kinematics of rolling contact, a trajectory and force planning algorithm, a 3D real time visual system, and the actual implementation of the system are explained together with results of experiments verifying our approach
Keywords :
force control; image sensors; manipulator kinematics; position control; position measurement; robot vision; 3D real time visual system; dexterous manipulation system; fingertips; force planning algorithm; grasped object; multi-fingered hand; rolling contact; trajectory planning algorithm; Differential equations; Fingers; Kinematics; Null space; Radiofrequency interference; Stacking; Virtual colonoscopy;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.571397
