Title :
Chopstick manipulation with an articulated hand-a qualitative analysis
Author :
Wang, G. ; Stephanou, H.E.
Author_Institution :
Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
Abstract :
The kinematics, static force propagation, and stability of tool manipulation by an articulated hand are analyzed. The manipulation of chopsticks is used as a case study to illustrate some fundamental characteristics of tool manipulation. A qualitative requirements analysis for chopstick manipulation is outlined. Emphasis is placed on the characteristics of objects and grasps in fine manipulation
Keywords :
control system analysis; kinematics; robots; stability; articulated hand; chopstick manipulation; grasps; kinematics; qualitative analysis; robots; stability; static force propagation; tool manipulation; Fingers; Grasping; Grippers; Path planning; Process planning; Robot sensing systems; Safety; Shape; Stability; Trajectory;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12029
