Cart (Loading....) | Create Account
Close category search window

On motion planning for dexterous manipulation. I. The problem formulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Zexiang Li ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Canny, J.F. ; Sastry, S.S.

The authors formulate the dextrous manipulation problem for a robot hand. First, dextrous manipulation is decomposed into coordinated manipulation, rolling motion, sliding motion, and finger relocation. Then the authors develop motion constraints for each of the manipulation modes and show that for finger motions that satisfy these constraints there exists a well-defined lift to the total space that links two contact configurations. Of special note is the incorporation of nonholonomic as well as holonomic and unilateral as well as bilateral constraints in motion planning

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.