DocumentCode
2776372
Title
The self-reconfiguration of a holonic hand: the holonic regrasp
Author
Durna, M. ; Erkmen, A.M. ; Erkmen, I.
Author_Institution
Dept. of Electr. & Electron., Middle East Tech. Univ., Ankara, Turkey
Volume
3
fYear
2000
fDate
2000
Firstpage
1993
Abstract
This paper uses a holonic hand model introduced in our early works (1998), which is composed of 2-stems-of-links-1-joint nonconvex biped planar holons working in colony in order to perform dexterous grasps. This paper focuses on the reconfiguration control of the colony that we structure as a sequence of planar grasp operations defining a holonic regrasp, which uses a graph theoretic formalization of configuration changes that occur in this holonic hand during this regrasping phase
Keywords
dexterous manipulators; manipulator kinematics; self-adjusting systems; dexterous manipulators; distributed structures; holonic regrasp; planar grasp operations; regrasping; robotic hand; self-reconfiguration; Ear; Fractals; Genetic algorithms; Grasping; Kinematics; Prototypes; Robots; Simulated annealing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.895263
Filename
895263
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