DocumentCode
393442
Title
A study on the stable grasping by a redundant multi-fingered robot hand
Author
Kumazaki, K. ; Svinin, M. ; Luo, Z. ; Odashima, T. ; Hosoe, S.
Author_Institution
Nagoya Univ., Aichi, Japan
Volume
1
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
230
Abstract
This paper deals with the stability of multi-fingered robot hand grasping. First, the problem is addressed at the force planning level. Next, the end point stiffness is distributed between redundant finger joints. The resulting control law is tested by an experiment with 3-fingered robot hand.
Keywords
redundant manipulators; stability; 3-fingered robot hand; force planning; redundant multifingered robot hand; stability; stable grasping; Damping; Equations; Fingers; Force control; Grasping; Gravity; Robots; Stability; Tensile stress; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195218
Filename
1195218
Link To Document