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Chopstick manipulation with an articulated hand-a qualitative analysis

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2 Author(s)
Wang, G. ; Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA ; Stephanou, H.E.

The kinematics, static force propagation, and stability of tool manipulation by an articulated hand are analyzed. The manipulation of chopsticks is used as a case study to illustrate some fundamental characteristics of tool manipulation. A qualitative requirements analysis for chopstick manipulation is outlined. Emphasis is placed on the characteristics of objects and grasps in fine manipulation

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988