Title :
Enhancing the dexterity of a robot hand using controlled slip
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
An analysis was performed of controlled slipping of an object within a robot hand. The possible ways an object can move within a grasp were enumerated. The set of permissible motions was found as a function of the constraint state, that is, the number, location, and types of contact on an object. The constraint state was found as a function of a number of controllable variables, such as grasping force and externally applied forces
Keywords :
control system analysis; force control; robots; constraint state; controllable variables; dexterity; grasping force; performance analysis; robot hand; slipping; Artificial intelligence; Fingers; Friction; Humans; Intelligent robots; Laboratories; Manipulators; Motion control; Performance analysis; Robot control;
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.1988.12056
