Title :
Controllability of grasps and manipulations in multi-fingered hands
Author :
Brook, Norm ; Shoham, Moshe ; Dayan, Joshua
Author_Institution :
RAFAEL, Haifa, Israel
fDate :
2/1/1998 12:00:00 AM
Abstract :
Manipulation of objects utilizing gravity and using general equilibrium grasps, which are not necessarily force-closure, is discussed. Examining the controllability of the object´s dynamics, in the presence of gravity, leads to the conclusion that almost all equilibrium grasps are locally controllable. This fact is used to show that manipulation from any one equilibrium point, to any other, is possible if there is a continuity of equilibrium points between them. In addition, the equilibrium grasps can be used for changing grasps with walking finger manipulation. The system controllability matrix is also used to test grasp quality, depending not only on kinematic values but also on object orientation and dynamic properties
Keywords :
controllability; manipulator dynamics; matrix algebra; stability; dynamic properties; dynamics; general equilibrium grasps; grasp controllability; grasp quality testing; gravity; kinematic values; local controllability; manipulation controllability; multifingered hands; object orientation; system controllability matrix; walking finger manipulation; Controllability; Fingers; Force control; Gravity; Kinematics; Legged locomotion; Manipulator dynamics; Stability; System testing; Torque control;
Journal_Title :
Robotics and Automation, IEEE Transactions on