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An off-line iterative and on-line analytical force distribution approach for soft multi-fingered hands

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3 Author(s)
Bing-Ran Zuo ; Res. Inst. of Robotics, Shanghai Jiaotong Univ., China ; G. Seliger ; Wen-Han Qian

Formulates the force distribution for soft multi-fingered hands as choosing a suitable internal force such that the total contact force satisfies the frictional constraints. As a first step, the direction of the optimal internal force is defined based on the grasp locations. Implementation of the algorithm is divided into two phases: (1) determine the direction of the internal force during grasp planning; (2) determine the magnitude of the internal force during task manipulation. The total computation cost consists of off-line numerical iterations and online analytical computations. Only the latter is related to the real-time control. An example shows that the proposed algorithm can efficiently deal with the soft frictional constraints and well overcome the temporal discontinuity

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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