Dextrous manipulation with rolling contacts

Author

Han, L. ; Guan, Y.S. ; Li, Z.X. ; Shi, Q. ; Trinkle, J.C.

Author_Institution

Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

992

Abstract

Dextrous manipulation is a problem of paramount importance in the study of multifingered robotic hands. Given a grasped object, the main objectives are: (a) generate trajectories for the finger joints so that through the effects of contact constraints, the object can be transferred to a goal grasp configuration; and (b) derive control algorithms to realize planned trajectories. In this paper, we integrate the relevant theories of contact kinematics, nonholonomic motion planning and grasp stability to develop a general technique for dextrous manipulation planning with multifingered hands. Experimental results are discussed

Keywords

manipulator kinematics; path planning; stability; contact kinematics; dextrous manipulation planning; finger joints; goal grasp configuration; grasp stability; multifingered robotic hands; nonholonomic motion planning; rolling contacts; trajectory generation; Drives; Fingers; Gaussian processes; Motion planning; Robot kinematics; Stability; Tail; Technology planning; Tensile stress; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614264

Filename

614264