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Finger force computation without the grip jacobian

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3 Author(s)
Hollerbach, J.M. ; MIT Artificial Intelligence Laboratory, Cambridge, MA ; Narasimhan, S. ; Wood, J.

This paper presents a fast and efficient way to compute the mapping from a desired external force on a grasped object to the joint torques of a multi-jointed, multi-fingered dexterous hand. The efficiency derives from avoiding the use of any Jacobian. The algorithm models contacts as point contacts with friction and works for three or four-fingered dexterous hands.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986

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